Hi,<br><br>I am currently writing an urdf file for a human model. The human model ran fine in rviz when I used geometric shapes for links. Recently I have uploaded STL files and changed the link geometry to that of a mesh. This has generated a &quot;No root link found&quot; error even though nothing has been changed in parent-child relationships in joints and names of links and joints have stayed constant. I have also opened up my STL files in blender and they all have no problem opening and displaying the models (they have been exported from Maya). I&#39;m not quite sure what I am missing in my urdf or my state_publisher file. It may be something simple that I am not aware of. I have attached the two files (model.xml and state_publisher.cpp). The error generated is below:<br>
<br>yglee@yglee-laptop:~/ros/ros/HUMAN$ roslaunch HUMAN launch_file.launch <br>... logging to /home/yglee/.ros/log/7c565b12-8dce-11df-b146-00236c960005/roslaunch-yglee-laptop-2123.log<br><br>started roslaunch server <a href="http://yglee-laptop:42319/">http://yglee-laptop:42319/</a><br>
<br>SUMMARY<br>========<br><br>PARAMETERS<br> * /robot_description<br><br>NODES<br>  /<br>    robot_state_publisher (robot_state_publisher/state_publisher)<br>    state_publisher (HUMAN/state_publisher)<br><br>WARNING: IP address 127.0.1.1 for local hostname &#39;yglee-laptop&#39; does not appear to match<br>
any local IP address (127.0.0.1,192.168.2.153). Your ROS nodes may fail to communicate.<br><br>Please use ROS_IP to set the correct IP address to use.<br>starting new master (master configured for auto start)<br>process[master]: started with pid [2137]<br>
ROS_MASTER_URI=<a href="http://yglee-laptop:11311/">http://yglee-laptop:11311/</a><br><br>setting /run_id to 7c565b12-8dce-11df-b146-00236c960005<br>process[rosout-1]: started with pid [2148]<br>started core service [/rosout]<br>
process[robot_state_publisher-2]: started with pid [2161]<br>process[state_publisher-3]: started with pid [2163]<br>[ERROR] 1278950383.696006000: No root link found. The robot xml is not a valid tree.<br>[ERROR] 1278950383.696138000: failed to find root link<br>
[ERROR] 1278950383.696279000: Could not generate robot model<br>[ERROR] 1278950383.696612000: Failed to extract kdl tree from xml robot description<br>[robot_state_publisher-2] process has died [pid 2161, exit code 255].<br>
log files: /home/yglee/.ros/log/7c565b12-8dce-11df-b146-00236c960005/robot_state_publisher-2*.log<br>^C[state_publisher-3] killing on exit<br>[rosout-1] killing on exit<br>[master] killing on exit<br>exiting...<br>shutting down processing monitor...<br>
... shutting down processing monitor complete<br>done<br><br><br>Thank you in advance for your help.<br><br>Grace L.<br>