I am new to ROS and I have been looking for ways to attach any OnRobot gripper to UR10 robot arm. I've tried to cloning the repo from https://github.com/sharathrjtr/ur10rg2ros.

While try to make the package, I encounter a few problems with some of the .cpp files. I ignore the the problems by copying the necessary urdf file to a universal_robot package.

From there on, I tried to run a moveitsetupassistant. However, I always failed to load the .urdf.xacro files due to some undefined property in the .urdf.xacro files.

Here's the example of the error:

And here's the related .xacro.urdf files:

ur10gr2robot_arc.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
       name="ur10" >

  <property name="M_PI" value="3.14159265359"/>
  <property name="kinect_prefix" value=""/>
  <property name="robot_prefix" value=""/>

  <!-- common stuff -->
  <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />

  <!-- ur5 -->
  <xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />

  <!-- kinect -->
  <xacro:include filename="$(find ur_description)/urdf/kinect.urdf.xacro" />

  <!-- arm extras -->
  <xacro:include filename="$(find ur_description)/urdf/arm_extras_ur10.urdf.xacro" />

  <!-- rg2 gripper -->
  <xacro:include filename="$(find ur_description)/urdf/rg2.urdf.xacro" />

  <!-- arm -->
  <xacro:ur10_robot prefix="" joint_limited="false"/>

  <!-- 3D sensor -->
  <xacro:sensor_kinect prefix="" parent="${kinect_prefix}kinect_back_link"/>

  <!-- arm extras -->
  <xacro:arm_extras prefix="" joint_limited="false" kinect_prefix="${kinect_prefix}"/>

  <!-- rg2 pipe -->
  <xacro:rg2 prefix=""/>

  <!-- world will be root link-->
  <link name="world" />
  <joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link = "ground_base1" />
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
  </joint>

</robot>

I have tried changing the property name within this files and the other related files, but none of the attempt seems to solve the issues. It would be much appreciated if anyone knows how to solve this issue.

Thanks!