URDF to Xacro from Solidworks Problems

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Hello folks!

First time here, mind me if I do anything wrong :)

First, my setup is: ROS Indigo on Linux Mint 17.1 (Ubuntu 14.04 based).

I am trying to import a robot I built on Solidworks and exported to URDF with the plugin provided here. Now things start to get tricky:

I can't run none launch files provided, with the following error (display.launch):

roque@mint-machine:~/ROS/catkin_workspace/src/CamPanTilt/launch$ roslaunch display.launch 
... logging to /home/roque/.ros/log/7db1f390-4d13-11e5-9277-94dbc9b65860/roslaunch-mint-machine-11086.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://mint-machine:35559/

SUMMARY
========

PARAMETERS
 * /robot_description: 
 * /rosdistro: indigo
 * /rosversion: 1.11.10
 * /use_gui: False

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_state_publisher (robot_state_publisher/state_publisher)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [11098]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7db1f390-4d13-11e5-9277-94dbc9b65860
process[rosout-1]: started with pid [11113]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [11130]
process[robot_state_publisher-3]: started with pid [11131]
[ERROR] [1440718181.920790719]: Error document empty.
state_publisher: /usr/include/boost/smart_ptr/shared_ptr.hpp:653: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = const urdf::Link; typename boost::detail::sp_member_access<T>::type = const urdf::Link*]: Assertion `px != 0' failed.
process[rviz-4]: started with pid [11145]
[robot_state_publisher-3] process has died [pid 11131, exit code -6, cmd /opt/ros/indigo/lib/robot_state_publisher/state_publisher __name:=robot_state_publisher __log:=/home/roque/.ros/log/7db1f390-4d13-11e5-9277-94dbc9b65860/robot_state_publisher-3.log].
log file: /home/roque/.ros/log/7db1f390-4d13-11e5-9277-94dbc9b65860/robot_state_publisher-3*.log
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/joint_state_publisher/joint_state_publisher", line 343, in <module>
    jsp = JointStatePublisher()
  File "/opt/ros/indigo/lib/joint_state_publisher/joint_state_publisher", line 26, in __init__
    robot = xml.dom.minidom.parseString(description).getElementsByTagName('robot')[0]
  File "/usr/lib/python2.7/xml/dom/minidom.py", line 1928, in parseString
    return expatbuilder.parseString(string)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 940, in parseString
    return builder.parseString(string)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 223, in parseString
    parser.Parse(string, True)
xml.parsers.expat.ExpatError: no element found: line 1, column 0
[joint_state_publisher-2] process has died [pid 11130, exit code 1, cmd /opt/ros/indigo/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/roque/.ros/log/7db1f390-4d13-11e5-9277-94dbc9b65860/joint_state_publisher-2.log].
log file: /home/roque/.ros/log/7db1f390-4d13-11e5-9277-94dbc9b65860/joint_state_publisher-2*.log

For gazebo, all i get is:

roque@mint-machine:~/ROS/catkin_workspace/src/CamPanTilt/launch$ roslaunch gazebo.launch 
... logging to /home/roque/.ros/log/8b042242-4d14-11e5-b9ce-94dbc9b65860/roslaunch-mint-machine-13332.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://mint-machine:43321/

SUMMARY
========

PARAMETERS
 * /pr2_controller_manager/joint_state_publish_rate: 100.0
 * /pr2_controller_manager/mechanism_statistics_publish_rate: 1.0
 * /robot_state_publisher/publish_frequency: 50.0
 * /robot_state_publisher/tf_prefix: 
 * /rosdistro: indigo
 * /rosversion: 1.11.10
 * /use_sim_time: True

NODES
  /
    fake_joint_calibration (rostopic/rostopic)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_model (gazebo_ros/spawn_model)
    tf_footprint_base (tf/static_transform_publisher)

auto-starting new master
process[master]: started ...