Can you please post this on <a href="http://answers.ros.org">answers.ros.org</a> along with the first few lines of your URDF?<br><br><div class="gmail_quote">On Thu, Nov 10, 2011 at 9:17 AM, Miguel G. <span dir="ltr">&lt;<a href="mailto:capelare@gmail.com">capelare@gmail.com</a>&gt;</span> wrote:<br>

<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">Hi, I&#39;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&#39;t seem to be able to do so, it keeps crashing all the time:
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started core service [/rosout]<br>process[joint_state_publisher-2]: started with pid [2754]<br>process[robot_state_publisher-3]: started with pid [2759]<br>process[rviz-4]: started with pid [2762]<br>Traceback (most recent call last):<br>




  File &quot;/home/capelare/ros/urdf_tools/joint_state_publisher/joint_state_publisher&quot;, line 208, in &lt;module&gt;<br>    jsp = JointStatePublisher()<br>  File &quot;/home/capelare/ros/urdf_tools/joint_state_publisher/joint_state_publisher&quot;, line 25, in __init__<br>




    robot = URDF().parse(description)<br>  File &quot;/home/capelare/ros/urdf_tools/urdf_python/src/urdf_python/urdf.py&quot;, line 506, in parse<br>    base = xml.dom.minidom.parseString(xml_string)<br>  File &quot;/usr/lib/python2.7/xml/dom/minidom.py&quot;, line 1924, in parseString<br>




    return expatbuilder.parseString(string)<br>  File &quot;/usr/lib/python2.7/xml/dom/expatbuilder.py&quot;, line 940, in parseString<br>    return builder.parseString(string)<br>  File &quot;/usr/lib/python2.7/xml/dom/expatbuilder.py&quot;, line 223, in parseString<br>




    parser.Parse(string, True)<br>xml.parsers.expat.ExpatError: not well-formed (invalid token): line 2, column 12<br>[joint_state_publisher-2] process has died [pid 2754, exit code 1].<br>log files: /home/capelare/.ros/log/b0629bba-0bad-11e1-93ed-001d4ffc607c/joint_state_publisher-2*.log</blockquote>




</div><div><br></div><div>That&#39;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&#39;re wondering.</div>



<div><br></div><div>I&#39;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&#39;m totally lost.</div><div><br></div><div>Thanks for your time,</div>



<div>Miguel :)</div>
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