Parser error Couldn't parse parameter override rule: '--param robot_description:=<?xml version="1.0" ?><!--

[FeetPro]

Hello,
I use ROS2 Humble and Ubuntu 22.04
when I launch the command

ros2 launch ur5_ros2_gazebo ur5_simulation.launch.py
in Ur5
it appears some problems:

[INFO] [gzserver-1]: process started with pid [5614]
[INFO] [gzclient-2]: process started with pid [5616]
[INFO] [robot_state_publisher-3]: process started with pid [5618]
[INFO] [spawn_entity.py-4]: process started with pid [5620]
[robot_state_publisher-3] [INFO] [1712923532.810118853] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1712923532.810340681] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1712923532.810352110] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-3] [INFO] [1712923532.810358526] [robot_state_publisher]: got segment flange
[robot_state_publisher-3] [INFO] [1712923532.810364314] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1712923532.810369916] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1712923532.810375465] [robot_state_publisher]: got segment tool0
[robot_state_publisher-3] [INFO] [1712923532.810380643] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-3] [INFO] [1712923532.810385881] [robot_state_publisher]: got segment world
[robot_state_publisher-3] [INFO] [1712923532.810391029] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-3] [INFO] [1712923532.810396193] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-3] [INFO] [1712923532.810401315] [robot_state_publisher]: got segment wrist_3_link
[spawn_entity.py-4] [INFO] [1712923533.911442975] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1712923533.913471813] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-4] warnings.warn(
[spawn_entity.py-4] [INFO] [1712923533.960035383] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1712923533.994776913] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1712923533.997400321] [spawn_entity]: Waiting for service /spawn_entity
[gzserver-1] [WARN] [1712923537.370481842] [rcl]: Found remap rule 'model_states:=model_states'. This syntax is deprecated. Use '--ros-args --remap model_states:=model_states' instead.
[gzserver-1] [WARN] [1712923537.373542070] [rcl]: Found remap rule 'link_states:=link_states'. This syntax is deprecated. Use '--ros-args --remap link_states:=link_states' instead.
[spawn_entity.py-4] [INFO] [1712923537.484490340] [spawn_entity]: Calling service /spawn_entity
[gzserver-1] [INFO] [1712923537.500010532] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo models at [/ros2_grasp/model_states]
[gzserver-1] [INFO] [1712923537.506940653] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo links at [/ros2_grasp/link_states]
[gzclient-2]
[gzclient-2] libcurl: (6) Could not resolve host: fuel.ignitionrobotics.org
[spawn_entity.py-4] [INFO] [1712923538.582528169] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [ur5]
[gzserver-1] [INFO] [1712923538.859627401] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1712923538.942705542] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-1] [INFO] [1712923538.945238224] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 5620]
[gzserver-1] [INFO] [1712923538.961877048] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1712923539.002136141] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-1] [INFO] [1712923539.002251677] [gazebo_ros2_control]: Loading parameter files /home/feet/ur_t/src/install/ur5_ros2_gazebo/share/ur5_ros2_gazebo/config/ur5_controller.yaml
[gzserver-1] [rcutils|error_handling.c:65] an error string (message, file name, or formatted message) will be truncated
[gzserver-1] [ERROR] [1712923539.005213626] [gazebo_ros2_control]: parser error Couldn't parse parameter override rule: '--param robot_description:=<!--
[gzserver-1]
[gzserver-1] # ===================================== COPYRIGHT ===================================== #
[gzserver-1] # #
[gzserver-1] # IFRA (Intelligent Flexible Robotics and Assembly) Group, CRANFIELD UNIVERSITY #
[gzserver-1] # Created on behalf of the IFRA Group at Cranfield University, United Kingdom #
[gzserver-1] # E-mail: IFRA@cranfield.ac.uk #
[gzserver-1] # #
[gzserver-1] # Licensed under the Apache-2.0 License. #
[gzserver-1] # You may not use this file except in c, at ./src/rcl/arguments.c:343
[gzserver-1]

i don't know how to fix it. Anyone else can help me?
thanks.

[mm0dev]

I am facing the same problem. Additionally, I am also encountering the 'controller manager not available' issue, which can apparently be resolved by installing an older version of gazebo_humble_ros2_controller. Therefore, I suspect that the issue you're dealing with is similar: the latest versions of either gazebo_ros2_control or xacro-related packages may not be compatible. (It is mentioned in this other issue: #26)

Like you, I am interested in finding out the actual solution to this problem.

Update: @FeetPro I invite you to try out the same solution provided in the issue I mentioned, since it fixed my errors.

[FeetPro]

Sorry for my late responding.
Finally, I can launch my ur5 robot with your decision. Initially, I still had these errors with your method, i had to reinstall my ros humble.
But i have other question, do you move your robot with the command ros2_data in terminal? I have the problems : *Unable to sample any valid states for goal tree in LINEAR path

thank you so much. @mm0dev