Using xacro for robot description does not work

edit

Hi, I defined a model using the urdf and everything works fine. However, when I replace one of the links with a macro, the link is not built to form the tree.

the xacro file: links_joints.xacro`

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

  <xacro:macro name="m_link_box" params="name origin_xyz origin_rpy size">
    <link name="${name}">
      <!--<inertial>
        <mass value="${mass}" />
        <origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
        <inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}" iyy="${iyy}" iyz="${iyz}" izz="${izz}" />
      </inertial>
      <collision>
        <origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
        <geometry>
          <box size="${size}" />
        </geometry>
      </collision>-->
      <visual>
        <origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
        <geometry>
          <box size="${size}" />
        </geometry>
      </visual>
    </link>
  </xacro:macro>
</robot>

`

Using this file works: mrm.xacro`

<?xml version="1.0"?>
<robot name="mrm" xmlns:xacro="https://www.ros.org/wiki/xacro">


  <xacro:include filename="$(find mrm_description)/urdf/links_joints.xacro" />
    <link name="base_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0 "/>
            <geometry>
                <box size="1 1 1"/>
            </geometry>
        </visual>
    </link>
    <joint name="base_link__link_01" type="revolute">
        <axis xyz="0 0 1"/>
        <limit effort="0.0" lower="-3.14" upper="3.14" velocity="0.5"/>
        <origin rpy="0 0 0" xyz="0 0 0.5"/>
        <parent link="base_link"/>
        <child link="link_01"/>
    </joint>

    <link name="link_01">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0.2 "/>
            <geometry>
                <cylinder radius="0.35" length="0.4" />
            </geometry>
        </visual>
    </link>
</robot>

`

But replacing first link with the macro fails to build the tree: `

<?xml version="1.0"?>
<robot name="mrm" xmlns:xacro="https://www.ros.org/wiki/xacro">


  <xacro:include filename="$(find mrm_description)/urdf/links_joints.xacro" />

    <m_link_box name="base_link"
              origin_rpy="0 0 0" origin_xyz="0 0 0"
              size="1 1 1" />

    <joint name="base_link__link_01" type="revolute">
        <axis xyz="0 0 1"/>
        <limit effort="0.0" lower="-3.14" upper="3.14" velocity="0.5"/>
        <origin rpy="0 0 0" xyz="0 0 0.5"/>
        <parent link="base_link"/>
        <child link="link_01"/>
    </joint>

    <link name="link_01">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0.2 "/>
            <geometry>
                <cylinder radius="0.35" length="0.4" />
            </geometry>
        </visual>
    </link>
</robot>

`

I am using rviz to visualize the urdf. The error says "Failed to parse URDF". Any help would be appreciated. Thanks