Error parsing SDF file xxx.sdf

[im-renpei]

Hi @andreasBihlmaier ,

Thank you for your great work. When I tried to run gazebo2rviz, I encountered the "Error parsing SDF file /home/ros/.gazebo/models/submarine_buoyant/model.sdf (not well-formed (invalid token): line 77, column 19)" problem, the details are as follows:

Ubuntu 18.04, Melodic, Gazebo 9.

1. roscore
2. roslaunch gazebo_ros empty_world.launch (then) add a table
3. rosrun rviz rviz (then) open TF and Marker
4. roslaunch gazebo2rviz gazebo2rviz.launch (then) Table_link can be seen in rviz, but no objects are displayed

(terminal log)
(base) ros@ros-vm:~/kortex_catkin_ws$ roslaunch gazebo2rviz gazebo2rviz.launch
... logging to /home/ros/.ros/log/7edc275e-2be7-11ec-8557-000c293646c3/roslaunch-ros-vm-84023.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ros-vm:42121/

SUMMARY

PARAMETERS

• /rosdistro: melodic
• /rosversion: 1.14.11

NODES
/
gazebo2marker (gazebo2rviz/gazebo2marker_node.py)
gazebo2tf (gazebo2rviz/gazebo2tf_node.py)
static_tf_pub_world_to_gazebo_world (tf2_ros/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

process[static_tf_pub_world_to_gazebo_world-1]: started with pid [84041]
process[gazebo2tf-2]: started with pid [84042]
process[gazebo2marker-3]: started with pid [84047]
[INFO] [1634103632.169316, 0.000000]: Ignoring submodels of: ['']
[INFO] [1634103632.180899, 0.000000]: Spinning
Error parsing SDF file /home/ros/.gazebo/models/mpl_right_forearm/model.sdf (XML or text declaration not at start of entity: line 16, column 0). Ignoring model and continuing.
[INFO] [1634103632.632158, 0.000000]: Ignoring submodels of: ['']
[INFO] [1634103632.649720, 0.000000]: ignore_submodels_of is currently not supported and will thus have no effect
[INFO] [1634103632.662521, 221.731000]: Spinning
Error parsing SDF file /home/ros/.gazebo/models/submarine_buoyant/model.sdf (not well-formed (invalid token): line 77, column 19). Ignoring model and continuing.
Error parsing SDF file /home/ros/.gazebo/models/mpl_right_forearm/model.sdf (XML or text declaration not at start of entity: line 16, column 0). Ignoring model and continuing.
Error parsing SDF file /home/ros/.gazebo/models/submarine_buoyant/model.sdf (not well-formed (invalid token): line 77, column 19). Ignoring model and continuing.
Error parsing SDF file /home/ros/.gazebo/models/submarine/model.sdf (not well-formed (invalid token): line 77, column 21). Ignoring model and continuing.
Error parsing SDF file /home/ros/.gazebo/models/src_doorway/model.sdf (not well-formed (invalid token): line 761, column 12). Ignoring model and continuing.
Error parsing SDF file /home/ros/.gazebo/models/lunar_tranquillitatis_pit/model.sdf (XML or text declaration not at start of entity: line 2, column 0). Ignoring model and continuing.
Error parsing SDF file /home/ros/.gazebo/models/lunar_tranquillitatis_pit/model-1_4.sdf (XML or text declaration not at start of entity: line 2, column 0). Ignoring model and continuing.
Error parsing SDF file /home/ros/.gazebo/models/submarine/model.sdf (not well-formed (invalid token): line 77, column 21). Ignoring model and continuing.
Error parsing SDF file /home/ros/.gazebo/models/mpl_right_arm/model.sdf (XML or text declaration not at start of entity: line 16, column 0). Ignoring model and continuing.
Error parsing SDF file /home/ros/.gazebo/models/src_doorway/model.sdf (not well-formed (invalid token): line 761, column 12). Ignoring model and continuing.
Error parsing SDF file /home/ros/.gazebo/models/submarine_sinking/model.sdf (not well-formed (invalid token): line 77, column 19). Ignoring model and continuing.
Error parsing SDF file /home/ros/.gazebo/models/lunar_tranquillitatis_pit/model.sdf (XML or text declaration not at start of entity: line 2, column 0). Ignoring model and continuing.
Error parsing SDF file /home/ros/.gazebo/models/lunar_tranquillitatis_pit/model-1_4.sdf (XML or text declaration not at start of entity: line 2, column 0). Ignoring model and continuing.
[INFO] [1634103636.837817, 224.815000]: Loaded model: table
Error parsing SDF file /home/ros/.gazebo/models/mpl_right_arm/model.sdf (XML or text declaration not at start of entity: line 16, column 0). Ignoring model and continuing.
Error parsing SDF file /home/ros/.gazebo/models/submarine_sinking/model.sdf (not well-formed (invalid token): line 77, column 19). Ignoring model and continuing.
[INFO] [1634103638.254269, 226.004000]: Loaded model: table

^C[gazebo2marker-3] killing on exit
[gazebo2tf-2] killing on exit
[static_tf_pub_world_to_gazebo_world-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
(base) ros@ros-vm:~/kortex_catkin_ws$

[andreasBihlmaier]

Hi @im-renpei,

Error parsing SDF file /home/ros/.gazebo/models/mpl_right_forearm/model.sdf (XML or text declaration not at start of entity: line 16, column 0). Ignoring model and continuing.

Looks like the mpl_right_forearm/model.sdf is invalid. If you can share this file, I can have a look.

Thanks,
Andreas