# URDF/COLLADA file is not a valid robot model | no name given for the robot | Universal Robots (UR)

I have dowloaded the Universal Robots (UR3, UR5 and UR10) from:

http://wiki.ros.org/universal_robot

I am trying to load the Urdf | xacro file in Moveit setup assistant...However I cannot load the robot

The error msg in Movelt Apl is "URDF/COLLADA file is not a valid robot model."

And the terminal returns me the following message: "No name given for the robot"

I followed the "tutorial" given by the link above...I executed the commands:

rosdep update....rosdep install rosdistro etc... and source ...devel/bash..

I also dowloaded the package with the Abb robots....and there was no problem in load them in Moveit. However I need a robot with ee_effector to follow the tutorial from qbotics...Lenthin Joseph...form the book Mastering ROS... anyway when I was finishing the setup from Abb robot moveit stopped and a shadow color appeared..it stopped to work, I don't know why. I would like to load the ur10 robot!

obs: I have already looked the answers similar to this issue in Forum, however they did not adressed my case!

Could someone help me to find the error?

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I am sorry guys I found the problem!!!

I tried exhaustively solve the issue....

Maybe help someone too: The problem is in the urdf.xacro files which is the robot_model_description...

In the first line on the headers, the authors wrote:

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro"
name="ur10e" >


When they should write:

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="ur10e">


When I implemented the change below, the moveit_assistant worked well and load the urdf model!!!

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Those files are used by thousands of people and they are correct as-is.

The cause of your problem is that you've selected the wrong file to load.

Instead of loading ur10e.urdf.xacro, you should load the ur10e_robot.urdf.xacro file.

The former only defines the macro, but doesn't instantiate it. The latter is a top-level xacro that includes the appropriate files and then also instantiates the model.

Loading a file that only defines a macro will result in an empty file after the MSA tries to load it, hence the error.

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