Error: XML is malformed or missing

[robert.walenta]

Hi,

recently I had to reinstall my ubuntu system. Since then I got the following error when i'm staring the planning_execution.launch:

[ERROR] [1418370809.506920667]: Skipping XML Document "/opt/ros/hydro/share/abb_irb2400_moveit_plugins/irb2400_kinematics/abb_irb2400_manipulator_moveit_ikfast_plugin_description.xml" which had no Root Element.  This likely means the XML is malformed or missing.

I uncomment tag by tag and located the error to the move_group node, here is the code:

<!-- Start the actual move_group node/action server -->
  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
    <!-- Set the display variable, in case OpenGL code is used internally -->
    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />

    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />

    <!-- MoveGroup capabilities to load -->
    <param name="capabilities" value="move_group/MoveGroupCartesianPathService
                      move_group/MoveGroupExecuteService
                      move_group/MoveGroupKinematicsService
                      move_group/MoveGroupMoveAction
                      move_group/MoveGroupPickPlaceAction
                      move_group/MoveGroupPlanService
                      move_group/MoveGroupQueryPlannersService
                      move_group/MoveGroupStateValidationService
                      move_group/MoveGroupGetPlanningSceneService
                      " />

    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
  </node>

But before my machine was reinstalled, everything was fine. Here some additional info's:

System : Ubuntu 12.04
ROS:      Hydro
Robot:    UR5

Would be happy for any idea. Thanks,
Robert

[Shaun Edwards]

I see this on my machine, too. The error doesn't affect operation.  Note that the error is complaining about the IRB 2400, an ABB robot, not the UR. I believe the plugin crawler is finding problems in the ABB package and reporting them, even though it doesn't actually need to load the plugin(not that it would know since the XML is malformed). 

--
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[Martin Günther]

Dear all,

The XML isn't malformed, the file is installed to the wrong location.
I've fixed it here:

https://github.com/ros-industrial/abb/pull/56

Cheers,
Martin

[Shaun Edwards]

Martin,

Thanks for the PR.  I really appreciate it.  It's been accepted and I will push out a release over the weekend.

Thanks again,

Shaun