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Error reading end tag - Model parsing the xml failed

asked 2017-07-28 17:38:31 -0500

Tonystark124 gravatar image

I am working on a sample exercise of creating an arm robot with 3 links and 2 joints, by defining the urdf file. Am also following the tutorial from Mastering ROS for Robotics Programmin by Lentin Joseph. I have the following code

     <?xml version="1.0"?>
    <robot name="pan_tilt">

    <link name="base_link">
            <cylinder length="0.01" radius="0.2"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <material name="yellow">
            <color rgba="1 1 0 1"/>

<joint name="pan_joint" type="revolute">
    <parent link="base_link"/>
    <child link="pan_link"/>
    <origin xyz="0 0 0.1"/>
    <axis xyz="0 0 0"/>

<link name="pan_link">
            <cylindder length="0.4" radius="0,04"/>
        <origin rpy="0 0 0" xyz="0 0 0.09"/>
        <material name="red">
            <color rgba="0 0 1 1"/>

<joint name="tilt_joint" type="revolute">
    <parent link="pan_link"/>
    <child link="tilt_link"/>
    <origin xyz="0 0 0.2"/>
    <axis xyz="0 1 0"/>

<link name="tilt_link">
            <cylindder length="0.4" radius="0,04"/>
        <origin rpy="0 1.5 0" xyz="0 0 0.0"/>
        <material name="green">
            <color rgba="1 0 0 1"/>

while running

    check_urdf pan_tilt.urdf

I get the following error :

    Error:   Error reading end tag.
     at line 72 in /build/buildd/urdfdom-0.2.10+dfsg/urdf_parser/src/model.cpp
    ERROR: Model Parsing the xml failed

The code is straight out of the tutorials. Can you please point out where the mistake is?

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2 Answers

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answered 2017-07-28 17:57:06 -0500

NEngelhard gravatar image

If you run into these problems, remove parts of your xml-file until you find the segment which causes your problem. (e.g. remove first half, check if error remains and continue in binary-search-style).

With this technique, you can find the errors in your urdf quite fast (geomtry, cylindder, "0,04") which are all just simple typos.

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Thank you for your help. It worked for debug.!

Tonystark124 gravatar image Tonystark124  ( 2017-07-29 02:42:04 -0500 )edit

getting the same error ! how did you resolved it ?

kashifnoori gravatar image kashifnoori  ( 2017-09-26 03:11:22 -0500 )edit

answered 2020-01-18 13:03:59 -0500

watch out your end tags. correct them by adding or removing / and you are good to go. i.e <link> </link>

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Asked: 2017-07-28 17:38:31 -0500

Seen: 5,046 times

Last updated: Jul 28 '17