(ignore htp, it is http in actual file)
base.urdf.xacro is as follows:
<robot xmlns:sensor="htp://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:controller="htp://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="htp://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="htp://ros.org/wiki/xacro">
<xacro:include filename="$(find rob_description_rave)/urdf/base/base_rev.transmission.xacro"/>
<xacro:property name="M_PI" value="3.1415926535897931"/>
<xacro:macro name="rob_base_v0" >="" <joint="" name="base_rev_joint" type="continuous">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<dynamics damping="1" friction="1"/>
<parent link="base_transy_link"/>
<child link="base_link"/>
</joint>
<link name="base_link">
<inertial>
<mass value="200"/>
<origin xyz="0 0 0"/>
<inertia ixx="10." ixy="-0." ixz="0." iyy="10." iyz="-0." izz="10."/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://rob_description_rave/meshes/base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey">
<color rgba="0. 1.0 0. 0.6"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://rob_description_rave/meshes/base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<surface>
<friction>
<ode mu="0" mu2="0" fdir1="0 0 0" slip1="1" slip2="1"/>
</friction>
</surface>
</collision>
</link>
<gazebo reference="base_link">
<material>Gazebo/Grey</material>
<turngravityoff>true</turngravityoff>
</gazebo>
<xacro:base_rev_transmission_v0/>
</xacro:macro>
</robot>
//-----------------------------------------------//
base_rev.transmission.xacro
<robot xmlns:sensor="htp://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:controller="htp://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="htp://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="htp://ros.org/wiki/xacro">
<xacro:macro name="base_rev_transmission_v0">
<transmission type="pr2_mechanism_model/SimpleTransmission" name="base_rev_trans">
<actuator name="base_rev_motor"/>
<joint name="base_rev_joint"/>
<mechanicalreduction>1.0</mechanicalreduction>
<motortorqueconstant>1.0</motortorqueconstant>
</transmission>
</xacro:macro>
</robot>
/-----------------------------------/
I am trying to convert base.urdf.xacro to base.urdf.
base.urdf is as follows:
<robot xmlns:controller="htp://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="htp://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="htp://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="htp://ros.org/wiki/xacro">
</robot>
please ignore the http, i have put only htp to post the question.
Can you post the files?