Base link is not unique

Course Support URDF for Robot Modeling
1

I am having a hard time with unit 4.2 in URDF. I just added the second part to my gurdy.xacro file and it won’t run. It fails to spawn so I ran the check on the xacro and got this:

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When I try to run and spawn gurdy I get this:

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I am unable to find the duplicate base link in the xacro or the generated urdf file. Any idea what is happening?

2

I finally figured this out. I am not real familiar with xacro but apparently all the xacro:macros need grouped together when combining the two snippets of xacro. Then the following is grouped together at the end of the xacro after the macro’s:

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