ros2 build_error ai_generated true

xacro: error: XML parsing error: not well-formed (invalid token)

ID: ros2/urdf-xacro-parse-error

Also available as: JSON · Markdown

90%Fix Rate

88%Confidence

3Evidence

2023-01-01First Seen

Version Compatibility

Version	Status	Introduced	Deprecated	Notes
2	active	—	—	—

XACRO/URDF file has XML syntax errors or undefined xacro macros/properties.

generic

92% success Run xacro standalone to get a clear error with line numbers
```
xacro my_robot.urdf.xacro > /dev/null
```
88% success Check all xacro:property and xacro:macro definitions are included
```
Verify all <xacro:include filename='...' /> paths are correct
```
85% success Use check_urdf to validate the generated URDF
```
xacro my_robot.urdf.xacro | check_urdf /dev/stdin
```

Common approaches that don't work:

Edit the URDF file that xacro generates instead of the .xacro source 90% fail
Generated URDF is overwritten on each build; edits are lost
Ignore xacro and write raw URDF for complex robots 80% fail
Raw URDF is unmaintainable at scale; loses parameterization, macros, and math expressions

Leads to: