error in urdf file

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Hi,

I'm working on a project where I have to write a urdf file to describe a tool. The robot description is already completed and I only have to write the urdf file of my tool and include it in the robot description. Furthermore I have to include another already existing tool into my description and position it accordingly.

So far I have written the urdf file and a launch file to test the urdf in rviz. They are in a package that includes the package.xml file and CMakeList.txt file (these should be fine) as well as a folder with the mesh stl file.

This is my urdf file:

<?xml version="1.0"?>

<robot name="grinding_tool" xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find compliant_tool)/compliant_tool_description/urdf_src/compliant_tool.urdf.xacro" />

<!-- Useful definitions -->
  <xacro:property name="meshes_path"
                  value="package://grinding_tool/meshes"/>


    <xacro:property name="meshes_scale"
                      value="0.001 0.001 0.001"/>

  <xacro:macro name="grinding_tool" params="parent_name ee_link_name">

  <joint name="assembly_world" type="fixed">
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <parent link="world"/>
      <child link="assembly _tool"/>
  </joint>

<link name="assembly_tool">
    <visual>
      <geometry>
        <mesh filename="${meshes_path}/assembly.stl" scale="${meshes_scale}"/>
      </geometry>
      <material name="gray">
          <color rgba="${105/255} ${105/255} ${105/255} 1.0"/>
      </material>
    </visual>
    <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
          <box size="0.42 0.17 0.15"/>
       </geometry>
   </collision>
   <inertial>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <mass value="3.3"/>
        <inertia ixx="0.0019"
                 ixy="0" iyy="0.072"
                 ixz="0" iyz="0" izz="0.074"/>
   </inertial>
 </link>

     <xacro:grinding_tool prefix="" joint_limited="true"/>

<!-- postioning the compliant tool in the grinding tool urdf, compliant tool uses ${parent_name} as base line-->  


       <joint name="comp_grind_link" type="fixed">
         <parent link="assembly_tool"/>
         <child link="${parent_name}"/>
          <origin xyz="0 0 0" rpy="0 0 0"/>
        </joint>

      <gazebo reference="tool">
          <mu1 value="200.0"/>
          <mu2 value="100.0"/>
         <kp value="10000000.0" />
         <kd value="1.0" />
         <material>Gazebo/Grey</material>
   </gazebo>

   <gazebo> 
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
          <robotNamespace>/</robotNamespace>
        </plugin>
  </gazebo>
</robot>

And the launch file I used is from this website: https://industrial-training-master.readthedocs.io/en/melodic/_source/session3/Workcell-XACRO.html

<?xml version="1.0" encoding="UTF-8"?>

<launch>
  <arg name="gui" default="true"/>
  <param name="robot_description" command="cat '$(find grinding_tool)/urdf_src/grinding_tool2.urdf.xacro'"/>

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="$(arg gui)"/>
  </node>

  <node name="rviz" pkg="rviz" type="rviz" if="$(arg gui)"/>
</launch>

When I launch it get an error : error reading end tag and in rviz it says that there is no tf data ... (more)