I used the include xacro command to combine three urdf.xacro files into one, and only one xacro is loaded through XML conversion from 'robot_description' via "$(xacro path/to/file.urdf.xacro)".
This worked normally in Launch (on launch.py), but failed when I put it directly in params or handled it in param files. But I want to operate it in run command.


-p robot_description:="$(xacro ws_moveit/urdf/example_robot.urdf.xacro)"

Results in:

[rcl]: Failed to parse global arguments
terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
  what():  failed to initialize rcl: Couldn't parse parameter override rule: '-p robot_description:=<?xml version="1.0" ?>

Thank you for your help.

  • $\begingroup$ The problem is address. $\endgroup$
    – ertretff
    Dec 28, 2023 at 1:24


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