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Resource Not Found: xacro

asked 2015-12-24 04:52:34 -0500

edmond320 gravatar image

updated 2015-12-24 05:28:13 -0500

gvdhoorn gravatar image

Hi everyone, I'm new to ROS and currently using indigo on 14.04 LTS. I have a package called myrobot_description,with launch and urdf folder in it. i am trying to launch a .launch file to display a urdf model in rviz,but facing this problem after i cd into the launch folder and run roslaunch display.launch

edmond@edmond:~/rosws/src/myrobot_description/launch$ roslaunch display.launch
... logging to /home/edmond/.ros/log/97f94786-aa1e-11e5-9e12-c81f662b396f/roslaunch-edmond-32318.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.

Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 307, in main
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 268, in start
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 217, in _start_infrastructure
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 132, in _load_config
    roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 451, in load_config_default
    loader.load(f, config, verbose=verbose)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 730, in load
    self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 702, in _load_launch
    self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 646, in _recurse_load
    self._param_tag(tag, context, ros_config, verbose=verbose)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 95, in call
    return f(*args, **kwds)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 256, in _param_tag
    vals = self.opt_attrs(tag, context, ('value', 'textfile', 'binfile', 'command'))
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 202, in opt_attrs
    return [self.resolve_args(tag_value(tag,a), context) for a in attrs]
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 183, in resolve_args
    return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 312, in resolve_args
    resolved = _resolve_args(resolved, context, resolve_anon, commands)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 325, in _resolve_args
    resolved = commands[command](resolved, a, args, context)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 141, in _find
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/", line 184, in _find_executable
    full_path = _get_executable_path(rp.get_path(args[0]), path)
  File "/usr/lib/python2.7/dist-packages/rospkg/", line 200, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)

ResourceNotFound: xacro
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/home/edmond/rosws/src
ROS path [2]=/opt/ros/indigo/share
ROS path [3]=/opt/ros/indigo/stacks

so basically ... (more)

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1 Answer

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answered 2015-12-24 04:55:15 -0500

gvdhoorn gravatar image

updated 2015-12-24 05:32:02 -0500

Two things:

  • do you have the xacro package installed?
  • have you sourced the appropriate setup.bash file?


i cd into the launch folder and run roslaunch display.launch

while this works (roslaunch can work with (absolute) paths), it's typically better to use the <PKG> <FILE> variant, as that will work from any directory (provided PKG is on the ROS_PACKAGE_PATH). In your case it would become:

roslaunch myrobot_description display.launch


btw,it is kind of weird because I've chosen ros full desktop installation, so it should not be any necessary package missing, isn't it?

Yes, that is strange. xacro is supposed to be part of the robot meta-package, which in turn is part of the desktop variant. Installing ros-indigo-desktop should have installed xacro as well. Can you provide some more information on how you installed ROS? Which tutorial (if any) did you follow?

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Asked: 2015-12-24 04:52:34 -0500

Seen: 5,318 times

Last updated: Dec 24 '15