Problem with xacro files
I'm following this tutorial: https://www.generationrobots.com/blog...
and get this when trying to launch:
timmx@timmx-NV52L:~/catkin_ws/src/mybot_description/urdf$ roslaunch mybot_gazebo mybot_world.launch
... logging to /home/timmx/.ros/log/f8a88710-7f35-11e8-80fd-20689d9ebc85/roslaunch-timmx-NV52L-27035.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.
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro:arg: missing attribute 'default'
when processing file: /home/timmx/catkin_ws/src/mybot_description/urdf/mybot.xacro
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/share/xacro/xacro.py '/home/timmx/catkin_ws/src/mybot_description/urdf/mybot.xacro'] returned with code [2].
Param xml is <param command="$(find xacro)/xacro.py '$(find mybot_description)/urdf/mybot.xacro'" name="robot_description"/>
The traceback for the exception was written to the log file
I have written the following files:
MYBOT.XACRO
<?xml version="1.0"?>
<robot name="mybot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- First ROS-Gazebo robot -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="chassisHeight" value="0.1"/>
<xacro:property name="chassisLength" value="0.4"/>
<xacro:property name="chassisWidth" value="0.2"/>
<xacro:property name="chassisMass" value="50"/>
<xacro:property name="casterRadius" value="0.05"/>
<xacro:property name="casterMass" value="5"/>
<xacro:property name="wheelWidth" value="0.05"/>
<xacro:property name="wheelRadius" value="0.1"/>
<xacro:property name="wheelPos" value="0.2"/>
<xacro:property name="wheelMass" value="5"/>
<xacro:property name="cameraSize" value="0.05"/>
<xacro:property name="cameraMass" value="0.1"/>
<xacro:arg name="gui" value="true"/>
<xacro:include filename="$(find mybot_description)/urdf/mybot.gazebo" />
<xacro:include filename="$(find mybot_description)/urdf/materials.xacro" />
<xacro:include filename="$(find mybot_description)/urdf/macros.xacro" />
<link name="footprint" />
<joint name="base_joint" type="fixed">
<parent link="footprint"/>
<child link="chassis"/>
</joint>
<link name="chassis">
<collision>
<origin xyz="0 0 ${wheelRadius}" rpy="0 0 0" />
<geometry>
<box size="${chassisLength} ${chassisWidth} ${chassisHeight}" />
</geometry>
</collision>
<visual>
<origin xyz="0 0 ${wheelRadius}" rpy="0 0 0"/>
<geometry>
<box size="${chassisLength} ${chassisWidth} ${chassisHeight}" />
</geometry>
<material name="orange"/>
</visual>
<inertial>
<origin xyz="0 0 ${wheelRadius}" rpy="0 0 0"/>
<mass value="${chassisMass}"/>
<box_inertia m="${chassisMass}" x="${chassisLength}" y="${chassisWidth}" z="${chassisHeight}"/>
</inertial>
</link>
</robot>
MACROS.XACRO
<?xml version="1.0"?>
<robot name="mybot_macros" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Put here the robot description -->
<xacro:macro name="cylinder_inertia" params="m r h">
<inertia ixx="${m * (3 * r * r + h * h) / 12}" ixy="0" ixz="0"
iyy="${m * (3 * r * r + h * h) / 12}" iyz="0"
izz="${m * r * r / 2}"
/>
</xacro:macro>
<xacro:macro name="box_inertia" params="m x y z">
<inertia ixx="${m * (y * y + z * z) / 12}" ixy="0" ixz="0"
iyy="${m * (x * x + z * z) / 12}" iyz="0"
izz="${m * (x * x + z * z) / 12}"
/>
</xacro:macro>
<xacro:macro name="sphere_inertia" params="m r">
<inertia ixx="${2 * m * r * r / 5}" ixy="0 ...