resource not found: a1_gazebo

[smileyenot983]

When i am running roslaunch unitree_gazebo normal.launch rname:=a1`

It gives me the following errors: xacro: in-order processing became default in ROS Melodic. You can drop the option. resource not found: a1_gazebo ROS path [0]=/opt/ros/melodic/share/ros ROS path [1]=/home/ramil/catkin_ws/src ROS path [2]=/opt/ros/melodic/share when processing file: /home/ramil/catkin_ws/src/unitree_ros/robots/a1_description/xacro/robot.xacro RLException: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '--inorder', '/home/ramil/catkin_ws/src/unitree_ros/robots/a1_description/xacro/robot.xacro', 'DEBUG:=false']] returned with code [2].

Param xml is The traceback for the exception was written to the log file

However, when i am running gazebo for laikago by writing roslaunch unitree_gazebo normal.launch rname:=laikago` everything works well

[shirellm]

I got the same problem for both a1 and go1

[smileyenot983]

After investing some time into this problem it turned out that the problem is in xacro. The problem is that xacro parses all comments in .xacro files. Thus, if there is some path which does not exist xacro will return an error, even though it is commented. You can read about it here https://github.com/ros/xacro/pull/300 .Should be fixed soon. Issue may be closed.

[smileyenot983]

I got the same problem for both a1 and go1

As a temporary fix you can just delete the comment in robot description xacro. In case of a1 it is <!-- <xacro:include filename="$(find a1_gazebo)/launch/stairs.urdf.xacro"/> -->

[shirellm]

worked thank you!