AR2 robot - import into ROS

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I have more requests than I can count to get my robot ROS enabled, I thought I would start with trying to get URDF into moveit. Using the solidworks plugin, Ive defined the base and then a child of the base with components for J1 and then a child of J1 for components of J2 and so on. joints 2 thought 6 appear correct but joint 1 gets picked up as joint type fixed and there is no valid axis selection available. Im not sure what im missing. Also the origin for the base is far below the robot which is confusing. are there any examples or tutorials available showing a complete run through in defining and importing a 6 axis robot?

thanks Chris Annin

https://github.com/Chris-Annin/AR2