Issues utilizing xacro properties [closed]

edit

launch file

<?xml version="1.0"?>

<launch>
    <arg name ="model"/>
    <param name="robot_description" textfile="$(find three_wheel_robot)/urdf/robot.xacro"/>
    <param name="use_gui" value="true"/>
    <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"/>
    <node name="rviz" pkg="rviz" type="rviz" args ="" required="true"/>

</launch>

xacro file

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

  <xacro:property name="width" value="0.2" />
  <xacro:property name="leglen" value="0.6" />
  <xacro:property name="polelen" value="0.2" />
  <xacro:property name="bodylen" value="0.6" />
  <xacro:property name="baselen" value="0.4" />
  <xacro:property name="wheeldiam" value="0.07" />
  <xacro:property name="pi" value="3.1415" />

  <material name="blue">
    <color rgba="0 0 0.8 1"/>
  </material>

  <material name="black">
    <color rgba="0 0 0 1"/>
  </material>

  <material name="white">
    <color rgba="1 1 1 1"/>
  </material>

  <xacro:macro name="default_inertial" params="mass">
    <inertial>
      <mass value="${mass}" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
  </xacro:macro>

  <link name="base_link">
    <visual>
      <geometry>
        <cylinder radius="${width}" length="${bodylen}"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder radius="${width}" length="${bodylen}"/>
      </geometry>
    </collision>
    <xacro:default_inertial mass="10"/>
  </link>

  <xacro:macro name="wheel" params="prefix suffix reflect">

    <link name="${prefix}_${suffix}_wheel">
      <visual>
        <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
        <geometry>
          <cylinder radius="${wheeldiam/2}" length="0.1"/>
        </geometry>
        <material name="black"/>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
        <geometry>
          <cylinder radius="${wheeldiam/2}" length="0.1"/>
        </geometry>
      </collision>
      <xacro:default_inertial mass="1"/>
    </link>
    <joint name="${prefix}_${suffix}_wheel_joint" type="continuous">
      <axis xyz="0 1 0" rpy="0 0 0" />
      <parent link="${prefix}_base"/>
      <child link="${prefix}_${suffix}_wheel"/>
      <origin xyz="${baselen*reflect/3} 0 -${wheeldiam/2+.05}" rpy="0 0 0"/>
    </joint>

  </xacro:macro>

  <xacro:macro name="leg" params="prefix reflect">
    <link name="${prefix}_leg">
      <visual>
        <geometry>
          <box size="${leglen} 0.1 0.2"/>
        </geometry>
        <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
        <material name="white"/>
      </visual>
      <collision>
        <geometry>
          <box size="${leglen} 0.1 0.2"/>
        </geometry>
        <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
      </collision>
      <xacro:default_inertial mass="10"/>
    </link>

    <joint name="base_to_${prefix}_leg" type="fixed">
      <parent link="base_link"/>
      <child link="${prefix}_leg"/>
      <origin xyz="0 ${reflect*(width+.02)} 0.25" />
    </joint>

    <link name="${prefix}_base">
      <visual>
        <geometry>
          <box size="${baselen} 0.1 0.1"/>
        </geometry>
        <material name="white ...