I have what seems to be a working installation of ROS2 Iron, and I have installed the UR driver https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main/ur_robot_driver to work with it. However, when I try to use the robot launchfile ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:= I get errors about missing xacro files: specifically

No such file or directory: /opt/ros/iron/share/ur_description/urdf/inc/ur_joint_control.xacro [Errno 2] No such file or directory: '/opt/ros/iron/share/ur_description/urdf/inc/ur_joint_control.xacro'
when processing file: /home/<username>/ws_moveit/install/ur_robot_driver/share/ur_robot_driver/urdf/ur.ros2_control.xacro
included from: /home/<username>/ws_moveit/install/ur_robot_driver/share/ur_robot_driver/urdf/ur.urdf.xacro

/urdf/inc/ur_sensors.xacro is also not present in /opt/ros/iron/share/ur_description/urdf/inc/ and is called for inside ur.ros2_control.xacro

Is this a path issue and they are somewhere else, or are these files not included in the Iron ROS2 distribution and the UR driver needs to be updated?


  • $\begingroup$ I found the solution, which was that I was not using the ROS Iron branch of github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/…. When I changed branches and rebuilt, I got a new error. $\endgroup$
    – Kat
    Commented May 29 at 20:42
  • 1
    $\begingroup$ Hi Kat, welcome to Robotics StackExchange. Would you mind putting your comment down as an answer and then accepting it? This would show that the question has been answered. :) $\endgroup$
    – ssarkar
    Commented May 30 at 8:15
  • $\begingroup$ As ssarkar states, please post the solution as an answer, and not as a comment - that is not what the comment section is for.. Also, please take the tour to better understand how the Q&A mechanism of Stack Exchange operates. $\endgroup$ Commented May 30 at 16:03


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