Can you please post this on answers.ros.org along with the first few lines
of your URDF?

On Thu, Nov 10, 2011 at 9:17 AM, Miguel G. <capelare@gmail.com> wrote:

> Hi, I'm trying to visualize the URDF models of the nxt_robots (robot.urdf
> files on each package) with the display.launch program from the
> urdf_tutorials stack, but I don't seem to be able to do so, it keeps
> crashing all the time:
>
> started core service [/rosout]
>> process[joint_state_publisher-2]: started with pid [2754]
>> process[robot_state_publisher-3]: started with pid [2759]
>> process[rviz-4]: started with pid [2762]
>> Traceback (most recent call last):
>>   File
>> "/home/capelare/ros/urdf_tools/joint_state_publisher/joint_state_publisher",
>> line 208, in <module>
>>     jsp = JointStatePublisher()
>>   File
>> "/home/capelare/ros/urdf_tools/joint_state_publisher/joint_state_publisher",
>> line 25, in __init__
>>     robot = URDF().parse(description)
>>   File
>> "/home/capelare/ros/urdf_tools/urdf_python/src/urdf_python/urdf.py", line
>> 506, in parse
>>     base = xml.dom.minidom.parseString(xml_string)
>>   File "/usr/lib/python2.7/xml/dom/minidom.py", line 1924, in parseString
>>     return expatbuilder.parseString(string)
>>   File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 940, in
>> parseString
>>     return builder.parseString(string)
>>   File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 223, in
>> parseString
>>     parser.Parse(string, True)
>> xml.parsers.expat.ExpatError: not well-formed (invalid token): line 2,
>> column 12
>> [joint_state_publisher-2] process has died [pid 2754, exit code 1].
>> log files:
>> /home/capelare/.ros/log/b0629bba-0bad-11e1-93ed-001d4ffc607c/joint_state_publisher-2*.log
>
>
> That's what I get on the Terminal. Then rviz opens and displays all the
> meshes on the origin. Any ideas? Too many joints, maybe? The robot.urdf
> file passes the check_urdf tool, so I guess the syntax is OK.
> BTW, display.launch works fine with the urdf files I made following the
> urdf_tutorials, if you're wondering.
>
> I'm still getting used to ros, urdf, rviz... and I tried to make this work
> by myself, so maybe this is the stupidest problem ever, but I'm totally
> lost.
>
> Thanks for your time,
> Miguel :)
>
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