Hi, I kept facing the same problem with this part of the course where if I try to write down the code myself, I was not able to generate the robot. The error that I am receiving is :
[ERROR] [1623637554.697606526]: Error reading end tag.
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher", line 44, in <module>
jsp = joint_state_publisher.JointStatePublisher()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/joint_state_publisher/__init__.py", line 159, in __init__
robot = xml.dom.minidom.parseString(description)
File "/usr/lib/python2.7/xml/dom/minidom.py", line 1928, 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: mismatched tag: line 8, column 18
[robot_state_publisher-2] process has died [pid 23811, exit code 255, cmd /opt/ros/kinetic/lib/robot_state_publisher/state_publisher __name:=robot_state_publisher __log:=/home/user/.ros/log/ef3c0c30-cca1-11eb-b79a-0242c0a85007/robot_state_publisher-2.log].
log file: /home/user/.ros/log/ef3c0c30-cca1-11eb-b79a-0242c0a85007/robot_state_publisher-2*.log
[joint_state_publisher-1] process has died [pid 23810, exit code 1, cmd /opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/user/.ros/log/ef3c0c30-cca1-11eb-b79a-0242c0a85007/joint_state_publisher-1.log].
log file: /home/user/.ros/log/ef3c0c30-cca1-11eb-b79a-0242c0a85007/joint_state_publisher-1*.log
This is what I wrote but I have no idea what went wrong. I also try to just copy and paste the code from the instruction and it works wonderfully. It would be great if you could point out what I did wrong in my code, shown below;
<?xml version="1.0"?>
<robot name="mira">
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.06" length="0.00">
</geometry>
</visual>
</link>
<link name="roll_M1_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0">
<geometry>
<cylinder radius="0.06" length="0.09">
</geometry>
</visual>
</link>
<joint name="roll_joint" type="revolute">
<parent link="base_link"/>
<child link="roll_M1_link"/>
<origin xyz="0.0023 0 -0.0005" rpy="0 0 0"/>
<limit lower="-0.2" upper="0.2" effort="0.1" velocity="0.005"/>
<axis xyz="1 0 0"/>
</joint>
</robot>
Also, sometimes I get errors like so
[ERROR] [1623638607.698268255, 10422.229000000]: Failed to find root link: Two root links found: [base_link] and [pitch_M2_link]
Why is that? (p/s This occurs when I tried to make the joints of roll_M1_link and pitch_M2_link but for some reason, the roll_M1_link is nowhere to be found)