XacroParser: Could not load included file: /urdf/inc/ur_transmissions.xacro

[LucaMIMOUNI]

Hey,

System

• Ubuntu 22.04 Jammy
• Ros2 Humble

Context

Working on a ur10e from the ur_description package from UniversalRobot; I would like to use your urdf visualiser. However I've get the following error message : XacroParser: Could not load included file: /urdf/inc/ur_transmissions.xacro . This file is specific to the ur description and I cannot remove it.

Here is my settings.json file:

{
// Some settings
"urdf-visualizer.packages": {
        "smart_robot": "$/home/luca/ros2_ws/smart_robot/src/sr_description"
    }
}

I've follow the installation guide with the .vsix and ect ...

Some help on it would be much appreciate !

Best.

[MorningFrog]

That's because of the settings. According to your screenshot, the possible settings.json is:

{
  "urdf-visualizer.packages": {
        "sr_description": "${workspaceFolder}"
  }
}

[matthias88]

I have exactly the same issue. My settings.json is:

{
"urdf-visualizer.packages": {
        "world_cell": "${workspaceFolder}/src/cell_moveit_config",
        "kuka_robot": "${workspaceFolder}/src/kuka_robot_descriptions"

    }
}

If I want to load xacros, which includes other xacros with xacro:include I get the XacroParser Error: Could not load included file: /urdf/xyz.xacro. If I want to load a simple xacro (with xacro:macro in it) it doesn't show me any errors, but also no 3D visualization. The extension is activated for the right workspace.

[MorningFrog]

Could you please provide the relevant xacro code so that I can find the problem.

[matthias88]

E.g. simple gripper:

<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

	<!-- Pi divided by two -->
	<xacro:property name="m_pi_2" value="1.570796327" />
	<xacro:property name="m_pi" value="3.1415927" />
	
	<!-- Here we define the 2 parameters of the macro -->
	<xacro:macro name="gripper_vacuum" params="prefix connected_to">
		<!-- Create a fixed joint with a parameterized name. -->
		<joint name="${prefix}gripper_vacuum_joint" type="fixed">
		  <!-- The parent link must be read from the robot model it is attached to. -->
		  <parent link="${connected_to}"/>
		  <child link="${prefix}gripper_vacuum"/>
		  <!-- The tool is directly attached to the flange. -->
		</joint>
		<link name="${prefix}gripper_vacuum">
		  <visual>
			<geometry>
			  <!-- The path to the visual meshes in the package. -->
			  <mesh filename="package://cell_moveit_config/meshes/gripper/gripperVacuumBoltFlange.stl" scale="0.001 0.001 0.001"/>
			</geometry>
			<origin xyz="-0.085 0 0" rpy="0 0 0"/>
		  </visual>
		  <collision>
			<geometry>
			  <!-- The path to the collision meshes in the package. -->
			  <mesh filename="package://cell_moveit_config/meshes/gripper/gripperVacuumBoltFlangeConvex.stl" scale="0.001 0.001 0.001"/>
			</geometry>
			<origin xyz="-0.028 0 -0.003" rpy="0 0 0"/>
		  </collision>
		  <collision>
                    <geometry>
                      <box size=" 0.05 0.25 0.06"/>
                  	</geometry>
        			<origin xyz="-0.059 0.03 0.03" rpy="0 0 0"/>
                  </collision>  
		</link>

		<!-- TCP frame -->
		<joint name="${prefix}tcp_joint" type="fixed">
		  <origin xyz="0 0 0.1805" rpy="0 0 0"/>
		  <parent link="${prefix}gripper_vacuum"/>
		  <child link="${prefix}tcp"/>
		</joint>
		<link name="${prefix}tcp"/>

	</xacro:macro>
</robot>

[matthias88]

E.g. cell:

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

    <xacro:include filename="$(find cell_moveit_config)/urdf/workcell.xacro"/>
    <xacro:include filename="$(find kuka_agilus_support)/urdf/kr6_r700_2_macro.xacro" />
    <xacro:include filename="$(find cell_moveit_config)/urdf/gripper_vacuum.xacro"/>

    <xacro:property name="robot_mount_height" value="0.0"/>
    <xacro:property name="robot_plate_height" value="0.0"/>
    <xacro:property name="dist_floor_to_robot" value="${robot_mount_height + robot_plate_height}"/>

    <!-- Read additional arguments  -->
    <xacro:arg name="use_fake_hardware" default="false"/>
    <xacro:arg name="roundtrip_time" default="0"/>
    <xacro:arg name="client_ip" default="127.0.0.1"/> 
    <xacro:arg name="client_port" default="59152"/>
    <xacro:arg name="prefix" default=""/>
    <xacro:arg name="x" default="0"/>
    <xacro:arg name="y" default="0"/>
    <xacro:arg name="z" default="0"/>
    <xacro:arg name="roll" default="0"/>
    <xacro:arg name="pitch" default="0"/>
    <xacro:arg name="yaw" default="0"/>
    
    <xacro:kuka_kr6_r700_2_robot client_ip="$(arg client_ip)" client_port="$(arg client_port)" prefix="$(arg prefix)" use_fake_hardware="$(arg use_fake_hardware)" roundtrip_time="$(arg roundtrip_time)">
    <origin xyz="$(arg x) $(arg y) $(arg z)" rpy="$(arg roll) $(arg pitch) $(arg yaw)"/>
    </xacro:kuka_kr6_r700_2_robot>
	
    <!-- Deg to rad -->
    <xacro:property name="m_pi_30" value="0.52359878" />
    <xacro:property name="m_pi_45" value="0.78539816" />
    <xacro:property name="m_pi_60" value="1.04719755" />
    <xacro:property name="m_pi_2" value="1.570796327" />
	<xacro:property name="m_pi" value="3.1466" />


    <!-- start of arm-gripper coupling joint definitions -->
	<xacro:gripper_vacuum prefix="" connected_to="tool0"/>	
    <!-- end of arm-gripper coupling joint definitions -->
        
    <xacro:workcell width="1.55" depth="1.15" height="1.126"/>
    <joint name="world_to_table" type="fixed">
        <parent link="world"/>
        <child link="cell_floor"/>
        <origin xyz=" 0.25 0.0 -${dist_floor_to_robot}" rpy="0 0 0"/>
    </joint>
     
    <!-- start fix collision objects -->  
    <link name="cell_dummy">
        <visual>
            <origin xyz="0 -0.01 0.037" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://cell_moveit_config/meshes/Testzelle_m.stl"/>
            </geometry>
             <material name="gray">
                <color rgba="0.5 0.5 0.5 1"/>
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 -0.1" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.001" />
            </geometry>
        </collision>
    </link>
    
    <joint name="world_to_cell_dummy" type="fixed">
        <parent link="world" />
        <child link="cell_dummy" />
    </joint>

    <link name="nest_0">
        <visual>
            <geometry>
                <mesh filename="package://cell_moveit_config/meshes/xyz.stl" scale="0.001 0.001 0.001"/>
            </geometry>
             <material name="orange">
                <color rgba="1 0.3 0 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://cell_moveit_config/meshes/xyz_simplified.stl" scale="0.001 0.001 0.001"/>
            </geometry>
        </collision>        
    </link>
    
    <joint name="world_to_nest_0" type="fixed">
        <parent link="world"/>
        <child link="nest_0"/>
        <origin xyz="0.4587 -0.1127 0.0625" rpy="${m_pi_2} 0 ${m_pi_2}"/>
    </joint>

    <link name="toolchange_station">
        <visual>
            <geometry>
                <mesh filename="package://cell_moveit_config/meshes/toolchange_station.stl" scale="0.001 0.001 0.001"/>
            </geometry>
             <material name="orange">
                <color rgba="1 0.3 0 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://cell_moveit_config/meshes/toolchange_station.stl" scale="0.001 0.001 0.001"/>
            </geometry>
        </collision>        
    </link>
    
    <joint name="world_to_toolchange_station" type="fixed">
        <parent link="world"/>
        <child link="toolchange_station"/>
        <origin xyz="0.3166 -0.65237 0.27866" rpy="-${m_pi_2} ${m_pi} 0"/>
    </joint>

    <link name="tof_box">
        <visual>
            <geometry>
                <box size="0.3 0.3 0.2"/>
            </geometry>
            <material name="cable_box_color">
                <color rgba="0.1 0.3 0.3 0.3"/>
            </material>
        </visual>
        <collision>
            <geometry>
                <box size="0.3 0.3 0.2"/>
            </geometry>
        </collision>        
    </link>
    
    <joint name="world_to_tof_box" type="fixed">
        <parent link="world"/>
        <child link="tof_box"/>
        <origin xyz="0.6 0.45 1.0" rpy="0 0 0"/>
    </joint>
    
</robot>

[MorningFrog]

Have you ever set the path for the cell_moveit_config package in the .vscode/settings.json file?

For example,

{
  "urdf-visualizer.packages": {
        "cell_moveit_config": "${workspaceFolder}/src/cell_moveit_config"
    }
}

It seems that the package name in your settings.json is different from your xacro file.

[matthias88]

Thanks a lot for your fast support, i modified the settings.json according your suggestion and added all packages, which are linked in the xacro. Now it works

[LucaMIMOUNI]

Hey; thanks you both for your replies.

I'm not sure I've understand what you've did @matthias88 to fix the problem.

I've changed my settings.json as you suggested @MorningFrog

That's because of the settings. According to your screenshot, the possible settings.json is:

{
"urdf-visualizer.packages": {
"sr_description": "${workspaceFolder}"
}
}

As my ur_transmission.xacro is already in the workspaceFolder (i.e, sr_description); I shouldn't have the same issue as matthias right ?

Also, from wich file should I start the extension, from the ur_macro.xacro or the ur.urdf.xacro. In fact, if I'm launching the extension from this second one I get another error: XacroParser: Failed to process expression "$(arg name)". XacroParser: Cannot run rospack command "arg name". XacroParser: Undefined substitution argument name

Here are my 2 xacro files:

ur_macro.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
  <!--
    Base UR robot series xacro macro.

    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
    (but note that .xacro must still be processed by the xacro command).

    This file models the base kinematic chain of a UR robot, which then gets
    parameterised by various configuration files to convert it into a UR3(e),
    UR5(e), UR10(e) or UR16e.

    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
    offsets, etc) do not correspond to any particular robot. They are defaults
    only. There WILL be non-zero offsets between the Forward Kinematics results
    in TF (i.e., robot_state_publisher) and the values reported by the Teach
    Pendant.

    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
    parameter MUST point to a .yaml file containing the appropriate values for
    the targeted robot.

    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
    described in the readme of that repository to extract the kinematic
    calibration from the controller and generate the required .yaml file.

    Main author of the migration to yaml configs Ludovic Delval.

    Contributors to previous versions (in no particular order)

     - Denis Stogl
     - Lovro Ivanov
     - Felix Messmer
     - Kelsey Hawkins
     - Wim Meeussen
     - Shaun Edwards
     - Nadia Hammoudeh Garcia
     - Dave Hershberger
     - G. vd. Hoorn
     - Philip Long
     - Dave Coleman
     - Miguel Prada
     - Mathias Luedtke
     - Marcel Schnirring
     - Felix von Drigalski
     - Felix Exner
     - Jimmy Da Silva
     - Ajit Krisshna N L
     - Muhammad Asif Rana
  -->

  <xacro:include filename="$(find sr_description)/urdf/inc/ur_transmissions.xacro" />
  <xacro:include filename="$(find sr_description)/urdf/inc/ur_common.xacro" />

  <xacro:macro name="ur_robot" params="
    name
    tf_prefix
    parent
    *origin
    joint_limits_parameters_file
    kinematics_parameters_file
    physical_parameters_file
    visual_parameters_file
    generate_ros2_control_tag:=true
    transmission_hw_interface:=hardware_interface/PositionJointInterface
    safety_limits:=false
    safety_pos_margin:=0.15
    safety_k_position:=20
    use_fake_hardware:=false
    fake_sensor_commands:=false
    sim_gazebo:=false
    sim_ignition:=false
    headless_mode:=false
    initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
    use_tool_communication:=false
    tool_voltage:=0
    tool_parity:=0
    tool_baud_rate:=115200
    tool_stop_bits:=1
    tool_rx_idle_chars:=1.5
    tool_tx_idle_chars:=3.5
    tool_device_name:=/tmp/ttyUR
    tool_tcp_port:=54321
    robot_ip:=0.0.0.0
    script_filename:=to_be_filled_by_ur_robot_driver
    output_recipe_filename:=to_be_filled_by_ur_robot_driver
    input_recipe_filename:=to_be_filled_by_ur_robot_driver
    reverse_port:=50001
    script_sender_port:=50002
    reverse_ip:=0.0.0.0
    script_command_port:=50004
    trajectory_port:=50003
    non_blocking_read:=true
    keep_alive_count:=2"

    >

    <!-- Load configuration data from the provided .yaml files -->
    <xacro:read_model_data
      joint_limits_parameters_file="${joint_limits_parameters_file}"
      kinematics_parameters_file="${kinematics_parameters_file}"
      physical_parameters_file="${physical_parameters_file}"
      visual_parameters_file="${visual_parameters_file}"
      force_abs_paths="${sim_gazebo or sim_ignition}"/>


    <xacro:if value="${generate_ros2_control_tag}">
      <!-- ros2 control include -->
      <xacro:include filename="$(find sr_description)/urdf/ur.ros2_control.xacro" />
      <!-- ros2 control instance -->
      <xacro:ur_ros2_control
        name="${name}"
        use_fake_hardware="${use_fake_hardware}"
        initial_positions="${initial_positions}"
        fake_sensor_commands="${fake_sensor_commands}"
        headless_mode="${headless_mode}"
        sim_gazebo="${sim_gazebo}"
        sim_ignition="${sim_ignition}"
        script_filename="${script_filename}"
        output_recipe_filename="${output_recipe_filename}"
        input_recipe_filename="${input_recipe_filename}"
        tf_prefix="${tf_prefix}"
        hash_kinematics="${kinematics_hash}"
        robot_ip="${robot_ip}"
        use_tool_communication="${use_tool_communication}"
        tool_voltage="${tool_voltage}"
        tool_parity="${tool_parity}"
        tool_baud_rate="${tool_baud_rate}"
        tool_stop_bits="${tool_stop_bits}"
        tool_rx_idle_chars="${tool_rx_idle_chars}"
        tool_tx_idle_chars="${tool_tx_idle_chars}"
        tool_device_name="${tool_device_name}"
        tool_tcp_port="${tool_tcp_port}"
        reverse_port="${reverse_port}"
        script_sender_port="${script_sender_port}"
        reverse_ip="${reverse_ip}"
        script_command_port="${script_command_port}"
        trajectory_port="${trajectory_port}"
        non_blocking_read="${non_blocking_read}"
        keep_alive_count="${keep_alive_count}"
        />
    </xacro:if>

    <!-- Add URDF transmission elements (for ros_control) -->
    <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
    <!-- Placeholder for ros2_control transmission which don't yet exist -->

    <!-- links -  main serial chain -->
    <link name="${tf_prefix}base_link"/>
       
    <link name="${tf_prefix}base_link_inertia">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
        <geometry>
          <xacro:get_mesh name="base" type="visual"/>
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
        <geometry>
          <xacro:get_mesh name="base" type="collision"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="${base_inertia_radius}" length="${base_inertia_length}" mass="${base_mass}">
        <origin xyz="0 0 0" rpy="0 0 0" />
      </xacro:cylinder_inertial>
    </link>
    <link name="${tf_prefix}shoulder_link">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
        <geometry>
          <xacro:get_mesh name="shoulder" type="visual"/>
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
        <geometry>
          <xacro:get_mesh name="shoulder" type="collision"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="${shoulder_mass}"/>
        <origin rpy="${shoulder_inertia_rotation}" xyz="${shoulder_cog}"/>
        <inertia
            ixx="${shoulder_inertia_ixx}"
            ixy="${shoulder_inertia_ixy}"
            ixz="${shoulder_inertia_ixz}"
            iyy="${shoulder_inertia_iyy}"
            iyz="${shoulder_inertia_iyz}"
            izz="${shoulder_inertia_izz}"
        />
      </inertial>    </link>
    <link name="${tf_prefix}upper_arm_link">
      <visual>
        <origin xyz="0 0 ${shoulder_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
        <geometry>
          <xacro:get_mesh name="upper_arm" type="visual"/>
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 ${shoulder_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
        <geometry>
          <xacro:get_mesh name="upper_arm" type="collision"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="${upper_arm_mass}"/>
        <origin rpy="${upper_arm_inertia_rotation}" xyz="${upper_arm_cog}"/>
        <inertia
            ixx="${upper_arm_inertia_ixx}"
            ixy="${upper_arm_inertia_ixy}"
            ixz="${upper_arm_inertia_ixz}"
            iyy="${upper_arm_inertia_iyy}"
            iyz="${upper_arm_inertia_iyz}"
            izz="${upper_arm_inertia_izz}"
        />
      </inertial>
    </link>
    <link name="${tf_prefix}forearm_link">
      <visual>
        <origin xyz="0 0 ${elbow_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
        <geometry>
          <xacro:get_mesh name="forearm" type="visual"/>
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 ${elbow_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
        <geometry>
          <xacro:get_mesh name="forearm" type="collision"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="${forearm_mass}"/>
        <origin rpy="${forearm_inertia_rotation}" xyz="${forearm_cog}"/>
        <inertia
            ixx="${forearm_inertia_ixx}"
            ixy="${forearm_inertia_ixy}"
            ixz="${forearm_inertia_ixz}"
            iyy="${forearm_inertia_iyy}"
            iyz="${forearm_inertia_iyz}"
            izz="${forearm_inertia_izz}"
        />
      </inertial>
    </link>
    <link name="${tf_prefix}wrist_1_link">
	  <xacro:get_visual_params name="wrist_1" type="visual_offset"/>
      <visual>
      	<origin xyz="0 0 ${visual_params}" rpy="${pi/2} 0 0"/>
        <geometry>
          <xacro:get_mesh name="wrist_1" type="visual"/>
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 ${visual_params}" rpy="${pi/2} 0 0"/>
        <geometry>
          <xacro:get_mesh name="wrist_1" type="collision"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="${wrist_1_mass}"/>
        <origin rpy="${wrist_1_inertia_rotation}" xyz="${wrist_1_cog}"/>
        <inertia
            ixx="${wrist_1_inertia_ixx}"
            ixy="${wrist_1_inertia_ixy}"
            ixz="${wrist_1_inertia_ixz}"
            iyy="${wrist_1_inertia_iyy}"
            iyz="${wrist_1_inertia_iyz}"
            izz="${wrist_1_inertia_izz}"
        />
      </inertial>
    </link>
    <link name="${tf_prefix}wrist_2_link">
	  <xacro:get_visual_params name="wrist_2" type="visual_offset"/>
      <visual>
        <origin xyz="0 0 ${visual_params}" rpy="0 0 0"/>
        <geometry>
          <xacro:get_mesh name="wrist_2" type="visual"/>
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 ${visual_params}" rpy="0 0 0"/>
        <geometry>
          <xacro:get_mesh name="wrist_2" type="collision"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="${wrist_2_mass}"/>
        <origin rpy="${wrist_2_inertia_rotation}" xyz="${wrist_2_cog}"/>
        <inertia
            ixx="${wrist_2_inertia_ixx}"
            ixy="${wrist_2_inertia_ixy}"
            ixz="${wrist_2_inertia_ixz}"
            iyy="${wrist_2_inertia_iyy}"
            iyz="${wrist_2_inertia_iyz}"
            izz="${wrist_2_inertia_izz}"
        />
      </inertial>
    </link>
    <link name="${tf_prefix}wrist_3_link">
	  <xacro:get_visual_params name="wrist_3" type="visual_offset"/>
      <visual>
        <origin xyz="0 0 ${visual_params}" rpy="${pi/2} 0 0"/>
        <geometry>
          <xacro:get_mesh name="wrist_3" type="visual"/>
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 ${visual_params}" rpy="${pi/2} 0 0"/>
        <geometry>
          <xacro:get_mesh name="wrist_3" type="collision"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="${wrist_3_mass}"/>
        <origin rpy="${wrist_3_inertia_rotation}" xyz="${wrist_3_cog}"/>
        <inertia
            ixx="${wrist_3_inertia_ixx}"
            ixy="${wrist_3_inertia_ixy}"
            ixz="${wrist_3_inertia_ixz}"
            iyy="${wrist_3_inertia_iyy}"
            iyz="${wrist_3_inertia_iyz}"
            izz="${wrist_3_inertia_izz}"
        />
      </inertial>
    </link>

    <!-- base_joint fixes base_link to the environment -->
    <joint name="${tf_prefix}base_joint" type="fixed">
      <xacro:insert_block name="origin" />
      <parent link="${parent}" />
      <child link="${tf_prefix}base_link" />
    </joint> 

    <!-- Disable collision between parent and base link -->
    <!-- <disable_collisions link1="${tf_prefix}base_link" link2="${parent}" /> -->


    <!-- joints - main serial chain -->
    <joint name="${tf_prefix}base_link-base_link_inertia" type="fixed">
      <parent link="${tf_prefix}base_link" />
      <child link="${tf_prefix}base_link_inertia" />
      <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
           frames of the robot/controller have X+ pointing backwards.
           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
           link/frame) to introduce the necessary rotation over Z (of pi rad).
      -->
      <origin xyz="0 0 0" rpy="0 0 ${pi}" />
    </joint>
    <joint name="${tf_prefix}shoulder_pan_joint" type="revolute">
      <parent link="${tf_prefix}base_link_inertia" />
      <child link="${tf_prefix}shoulder_link" />
      <origin xyz="${shoulder_x} ${shoulder_y} ${shoulder_z}" rpy="${shoulder_roll} ${shoulder_pitch} ${shoulder_yaw}" />
      <axis xyz="0 0 1" />
      <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}"
        effort="${shoulder_pan_effort_limit}" velocity="${shoulder_pan_velocity_limit}"/>
      <xacro:if value="${safety_limits}">
         <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
      </xacro:if>
      <dynamics damping="0" friction="0"/>
    </joint>
    <joint name="${tf_prefix}shoulder_lift_joint" type="revolute">
      <parent link="${tf_prefix}shoulder_link" />
      <child link="${tf_prefix}upper_arm_link" />
      <origin xyz="${upper_arm_x} ${upper_arm_y} ${upper_arm_z}" rpy="${upper_arm_roll} ${upper_arm_pitch} ${upper_arm_yaw}" />
      <axis xyz="0 0 1" />
      <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}"
        effort="${shoulder_lift_effort_limit}" velocity="${shoulder_lift_velocity_limit}"/>
      <xacro:if value="${safety_limits}">
         <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
      </xacro:if>
      <dynamics damping="0" friction="0"/>
    </joint>
    <joint name="${tf_prefix}elbow_joint" type="revolute">
      <parent link="${tf_prefix}upper_arm_link" />
      <child link="${tf_prefix}forearm_link" />
      <origin xyz="${forearm_x} ${forearm_y} ${forearm_z}" rpy="${forearm_roll} ${forearm_pitch} ${forearm_yaw}" />
      <axis xyz="0 0 1" />
      <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}"
        effort="${elbow_joint_effort_limit}" velocity="${elbow_joint_velocity_limit}"/>
      <xacro:if value="${safety_limits}">
         <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
      </xacro:if>
      <dynamics damping="0" friction="0"/>
    </joint>
    <joint name="${tf_prefix}wrist_1_joint" type="revolute">
      <parent link="${tf_prefix}forearm_link" />
      <child link="${tf_prefix}wrist_1_link" />
      <origin xyz="${wrist_1_x} ${wrist_1_y} ${wrist_1_z}" rpy="${wrist_1_roll} ${wrist_1_pitch} ${wrist_1_yaw}" />
      <axis xyz="0 0 1" />
      <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}"
        effort="${wrist_1_effort_limit}" velocity="${wrist_1_velocity_limit}"/>
      <xacro:if value="${safety_limits}">
         <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
      </xacro:if>
      <dynamics damping="0" friction="0"/>
    </joint>
    <joint name="${tf_prefix}wrist_2_joint" type="revolute">
      <parent link="${tf_prefix}wrist_1_link" />
      <child link="${tf_prefix}wrist_2_link" />
      <origin xyz="${wrist_2_x} ${wrist_2_y} ${wrist_2_z}" rpy="${wrist_2_roll} ${wrist_2_pitch} ${wrist_2_yaw}" />
      <axis xyz="0 0 1" />
      <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}"
             effort="${wrist_2_effort_limit}" velocity="${wrist_2_velocity_limit}"/>
      <xacro:if value="${safety_limits}">
         <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
      </xacro:if>
      <dynamics damping="0" friction="0"/>
    </joint>
    <joint name="${tf_prefix}wrist_3_joint" type="revolute">
      <parent link="${tf_prefix}wrist_2_link" />
      <child link="${tf_prefix}wrist_3_link" />
      <origin xyz="${wrist_3_x} ${wrist_3_y} ${wrist_3_z}" rpy="${wrist_3_roll} ${wrist_3_pitch} ${wrist_3_yaw}" />
      <axis xyz="0 0 1" />
      <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}"
             effort="${wrist_3_effort_limit}" velocity="${wrist_3_velocity_limit}"/>
      <xacro:if value="${safety_limits}">
         <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
      </xacro:if>
      <dynamics damping="0" friction="0"/>
    </joint>

    <link name="${tf_prefix}ft_frame"/>
    <joint name="${tf_prefix}wrist_3_link-ft_frame" type="fixed">
      <parent link="${tf_prefix}wrist_3_link"/>
      <child link="${tf_prefix}ft_frame"/>
      <origin xyz="0 0 0" rpy="${pi} 0 0"/>
    </joint>

    <!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
    <link name="${tf_prefix}base"/>
    <joint name="${tf_prefix}base_link-base_fixed_joint" type="fixed">
      <!-- Note the rotation over Z of pi radians - as base_link is REP-103
           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
           to correctly align 'base' with the 'Base' coordinate system of
           the UR controller.
      -->
      <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
      <parent link="${tf_prefix}base_link"/>
      <child link="${tf_prefix}base"/>
    </joint>

    <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
    <link name="${tf_prefix}flange" />
    <joint name="${tf_prefix}wrist_3-flange" type="fixed">
      <parent link="${tf_prefix}wrist_3_link" />
      <child link="${tf_prefix}flange" />
      <origin xyz="0 0 0" rpy="0 ${-pi/2.0} ${-pi/2.0}" />
    </joint>

    <!-- Adding the welding_tool  -->
    <link name="${tf_prefix}tool0">
    <xacro:get_visual_params name="tool0" type="visual_offset"/>
      <visual>
        <origin xyz="0 0 ${visual_params}" rpy="0 0 0"/>
        <geometry>
          <xacro:get_mesh name="tool0" type="visual"/>
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 ${visual_params}" rpy="0 0 0"/>
        <geometry>
          <xacro:get_mesh name="tool0" type="collision"/>
        </geometry>
      </collision>
    </link>
    
    <joint name="${tf_prefix}flange-tool0" type="fixed">
      <!-- default toolframe - X+ left, Y+ up, Z+ front -->
      <origin xyz="0 0 0" rpy="${pi/2.0} 0 ${pi/2.0}"/>
      <parent link="${tf_prefix}flange"/>
      <child link="${tf_prefix}tool0"/>
    </joint>

    <!-- Define TCP for welding tool -->
    <link name="${tf_prefix}welding_tip">
        <visual>
            <geometry>
                <sphere radius="0.005"/> <!-- Small visual to show TCP point -->
            </geometry>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
              <sphere radius="0.0001"/>
            </geometry>
        </collision>
    </link>
    
    <joint name="${tf_prefix}tool0_to_welding_tip" type="fixed">
        <parent link="${tf_prefix}tool0"/>
        <child link="${tf_prefix}welding_tip"/>
        <origin xyz="0 0.1 0.18" rpy="${pi/2} 0 0"/>
    </joint>

    <!-- Zivid Virtual link (Needed for Tf), NB don't change following link name -->
    <link name="${tf_prefix}zivid_optical_frame"/>
    
    <joint name="${tf_prefix}tool0_to_zivid" type="fixed">
        <parent link="${tf_prefix}tool0"/>
        <child link="${tf_prefix}zivid_optical_frame"/>
        <origin xyz="-1.532580e-02 -9.796166e-02 0.06547501" rpy="-0.00928421  0.03829236  0.01568771"/> <!-- xyz="-0.0333822 -0.08950235  0.04547501" rpy="0.00417424 0.071262 0.02065126"-->
    </joint>

  </xacro:macro>
</robot>

and ur.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
   <!-- robot name parameter -->
   <xacro:arg name="name" default="ur"/>
   <!-- import main macro -->
   <xacro:include filename="$(find sr_description)/urdf/ur_macro.xacro"/>

   <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20, ur30 -->
   <!-- the default value should raise an error in case this was called without defining the type -->
   <xacro:arg name="ur_type" default="ur10e"/>

   <!-- parameters -->
   <xacro:arg name="tf_prefix" default="" />
   <xacro:arg name="joint_limit_params" default="$(find sr_description)/config/$(arg ur_type)/joint_limits.yaml"/>
   <xacro:arg name="kinematics_params" default="$(find sr_description)/config/$(arg ur_type)/my_robot_calibration.yaml"/> <!-- Factory calibration selected my_robot_calibration-->
   <xacro:arg name="physical_params" default="$(find sr_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
   <xacro:arg name="visual_params" default="$(find sr_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
   <xacro:arg name="transmission_hw_interface" default=""/>
   <xacro:arg name="safety_limits" default="false"/>
   <xacro:arg name="safety_pos_margin" default="0.15"/>
   <xacro:arg name="safety_k_position" default="20"/>
   <!-- ros2_control related parameters -->
   <xacro:arg name="headless_mode" default="false" />
   <xacro:arg name="robot_ip" default="0.0.0.0" />
   <xacro:arg name="script_filename" default=""/>
   <xacro:arg name="output_recipe_filename" default=""/>
   <xacro:arg name="input_recipe_filename" default=""/>
   <xacro:arg name="reverse_ip" default="0.0.0.0"/>
   <xacro:arg name="script_command_port" default="50004"/>
   <xacro:arg name="reverse_port" default="50001"/>
   <xacro:arg name="script_sender_port" default="50002"/>
   <xacro:arg name="trajectory_port" default="50003"/>
   <!--   tool communication related parameters-->
   <xacro:arg name="use_tool_communication" default="false" />
   <xacro:arg name="tool_voltage" default="0" />
   <xacro:arg name="tool_parity" default="0" />
   <xacro:arg name="tool_baud_rate" default="115200" />
   <xacro:arg name="tool_stop_bits" default="1" />
   <xacro:arg name="tool_rx_idle_chars" default="1.5" />
   <xacro:arg name="tool_tx_idle_chars" default="3.5" />
   <xacro:arg name="tool_device_name" default="/tmp/ttyUR" />
   <xacro:arg name="tool_tcp_port" default="54321" />

     <!-- Simulation parameters -->
   <xacro:arg name="use_fake_hardware" default="false" />
   <xacro:arg name="fake_sensor_commands" default="false" />
   <xacro:arg name="sim_gazebo" default="false" />
   <xacro:arg name="sim_ignition" default="false" />
   <xacro:arg name="simulation_controllers" default="" />

   <!-- initial position for simulations (Fake Hardware, Gazebo, Ignition) -->
   <xacro:arg name="initial_positions_file" default="$(find sr_description)/config/initial_positions.yaml"/>

   <!-- convert to property to use substitution in function -->
   <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>

   <physics name="default_physics" default="0" type="ode">
     <max_step_size>0.001</max_step_size>  <!-- Diminuer le pas de simulation -->
     <real_time_update_rate>1000.0</real_time_update_rate> <!-- Augmenter la fréquence de mise à jour -->
     <iters>1000</iters>  <!-- Augmenter le nombre d'itérations -->
   </physics>

   <!-- create link fixed to the "world" -->
   <link name="world" />

   <!-- Définition de la table dans l'URDF -->
   <link name="SR_table">
     <static>true</static>
     <!-- Visual pour l'apparence de la table -->
     <visual> 
       <origin xyz="0 0 0.878" rpy="0 0 0"/> <!-- Position de la mesh visuelle -->
       <geometry>
         <mesh filename="file://$(find sr_description)/meshes/ur10e/visual/SR_Table.dae"/> <!-- "model://SR_env/meshes/SR_Table.dae" -->
         <!--<xacro:get_mesh name="SR_Table" type="visual"/>-->
         
       </geometry>
     </visual>

     <!-- Collision pour la table (la forme simplifiée pour les interactions physiques) -->
     <collision>
       <!-- <origin xyz="-0.63 0.27 0.45" rpy="0 0 3.1413"/> --> <!--Position de la collision 0.45-->
       <origin xyz="0 0 0.869" rpy="0 0 0"/>
       <geometry>
         <!-- <box size="1.493 0.747 0.83"/> --> <!-- Dimensions physiques simplifiées de la table -->
         <mesh filename="file://$(find sr_description)/meshes/ur10e/collision/SR_Table.stl" scale="0.001 0.001 0.001"/>-->
       </geometry>
       <surface>
         <friction>
           <ode>
             <mu>1.0</mu>  <!-- Coefficient de friction -->
             <mu2>1.0</mu2>
           </ode>
         </friction>
       </surface>
     </collision>

     <!-- Inertie pour les calculs de physique -->
     <inertial>
       <mass value="50.0"/> <!-- Masse approximative de la table -->
       <inertia
            ixx="1.0"
            iyy="1.0"
            izz="1.0"
            ixy="0.0"
            ixz="0.0"        
            iyz="0.0"
       />
     </inertial>
   </link>

   <!-- Joint fixe entre la table et le monde -->
   <joint name="table_to_world" type="fixed">
     <parent link="world"/>
     <child link="SR_table"/> 
   </joint>

   <!-- <disable_collisions link1="world" link2="SR_table" reason="Adjacent" /> -->

   <!-- arm -->
   <xacro:ur_robot
     name="$(arg name)"
     tf_prefix="$(arg tf_prefix)"
     parent="SR_table"
     joint_limits_parameters_file="$(arg joint_limit_params)"
     kinematics_parameters_file="$(arg kinematics_params)"
     physical_parameters_file="$(arg physical_params)"
     visual_parameters_file="$(arg visual_params)"
     transmission_hw_interface="$(arg transmission_hw_interface)"
     safety_limits="$(arg safety_limits)"
     safety_pos_margin="$(arg safety_pos_margin)"
     use_fake_hardware="$(arg use_fake_hardware)"
     fake_sensor_commands="$(arg fake_sensor_commands)"
     sim_gazebo="$(arg sim_gazebo)"
     sim_ignition="$(arg sim_ignition)"
     headless_mode="$(arg headless_mode)"
     initial_positions="${xacro.load_yaml(initial_positions_file)}"
     use_tool_communication="$(arg use_tool_communication)"
     tool_voltage="$(arg tool_voltage)"
     tool_parity="$(arg tool_parity)"
     tool_baud_rate="$(arg tool_baud_rate)"
     tool_stop_bits="$(arg tool_stop_bits)"
     tool_rx_idle_chars="$(arg tool_rx_idle_chars)"
     tool_tx_idle_chars="$(arg tool_tx_idle_chars)"
     tool_device_name="$(arg tool_device_name)"
     tool_tcp_port="$(arg tool_tcp_port)"
     robot_ip="$(arg robot_ip)"
     script_filename="$(arg script_filename)"
     output_recipe_filename="$(arg output_recipe_filename)"
     input_recipe_filename="$(arg input_recipe_filename)"
     reverse_ip="$(arg reverse_ip)"
     script_command_port="$(arg script_command_port)"
     reverse_port="$(arg reverse_port)"
     script_sender_port="$(arg script_sender_port)"
     trajectory_port="$(arg trajectory_port)"
     >
     <origin xyz="0 0 0.9027" rpy="0 0 0" />          <!-- Réglage manuel pour trouver la hauteur du robot : 0.9027  -->
   </xacro:ur_robot>

   <xacro:if value="$(arg sim_gazebo)">
    <!-- Gazebo plugins -->
    <gazebo reference="world">
    </gazebo>
    <gazebo>
      <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
        <parameters>$(arg simulation_controllers)</parameters>
      </plugin>
    </gazebo>
  </xacro:if>

  <xacro:if value="$(arg sim_ignition)">
    <!-- Gazebo plugins -->
    <gazebo reference="world">
    </gazebo>
    <gazebo>
      <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
        <parameters>$(arg simulation_controllers)</parameters>
        <controller_manager_node_name>$(arg tf_prefix)controller_manager</controller_manager_node_name>
      </plugin>
    </gazebo>
  </xacro:if>

</robot>

[MorningFrog]

It seems that you need to launch the extension on ur.urdf.xacro. Your error XacroParser: Failed to process expression "$(arg name)". is due to a syntax error in the following code:

<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">

It seems that there is no such syntax to add argument at <robot> tag.

[LucaMIMOUNI]

This "$(arg name)" is from the Universal_Robot description; however, I think I can just replace it by the default value "ur".

I now face an error with Ros Jade, which is weird because I'm running on ubuntu 22.04 ROS2 humble and I never download this distribution. (Cf screenshot)

From what I can understand the problem comes from a ^ in the ur_common.xacro, however, I think I should not touch such file.

Ty again for your help !

[MorningFrog]

You can ignore Ros Jade, it doesn't matter. The problem is the ^ in ur_common.xacro, which does not conform to the xacro syntax. I don't understand why UR robot write xacro files in non-standard formats. Sorry, if you need to use URDF Visualizer, you may need to modify these non-standard syntax. 🙇🙇🙇