user:~/catkin_ws/src/my_mira_description/urdf$ rosrun my_mira_description mira_simple_collisions_inertias.urdf
/home/user/catkin_ws/src/my_mira_description/urdf/mira_simple_collisions_inertias.urdf: line 1: syntax error near unexpected token newline' /home/user/catkin_ws/src/my_mira_description/urdf/mira_simple_collisions_inertias.urdf: line 1: <?xml version="1.0"?>’
Error I got while executing the code. Code for reference is below.
<?xml version="1.0"?><link name = "base_link">
<visual>
<material name = "grey">
<color rgba = "0.75 0.75 0.75 1"/>
</material>
<origin xyz = "0 0 0" rpy = "0 0 0"/>
<geometry>
<cylinder radius = "0.06" length = "0.09"/>
</geometry>
</visual>
<inertial>
<origin xyz = "0 0 0" rpy = "0 0 0"/>
<mass value = "0.18"/>
<inertia ixx = "0.0002835" ixy = "0.0" ixz = "0.0" iyy = "0.0002835" iyz = "0.0" izz = "0.000324"/>
</inertial>
<collision>
<origin xyz = "0 0 0" rpy = "0 0 0"/>
<geometry>
<cylinder radius = "0.06" length = "0.09"/>
</geometry>
</collision>
</link>
<gazebo reference="base_link">
<kp>100000.0</kp>
<kd>100000.0</kd>
<mu1>10.0</mu1>
<mu2>10.0</mu2>
<material>Gazebo/Grey</material>
</gazebo>
<link name = "roll_M1_link">
<visual>
<material name = "red">
<color rgba = "0.8 0 0 1"/>
</material>
<origin xyz = "0 0 0" rpy = "0 0 0"/>
<geometry>
<cylinder radius = "0.01" length = "0.005"/>
</geometry>
</visual>
<inertial>
<origin xyz = "0 0 0" rpy = "0 0 0"/>
<mass value = "0.001"/>
<inertia ixx="2.70833333333e-08" ixy="0.0" ixz="0.0" iyy="2.70833333333e-08" iyz="0.0" izz="5e-08"/>
</inertial>
</link>
<gazebo reference="roll_M1_link">
<kp>1000.0</kp>
<kd>10.0</kd>
<mu1>10.0</mu1>
<mu2>10.0</mu2>
<material>Gazebo/Red</material>
</gazebo>
<joint name = "roll_joint" type = "revolute">
<parent link = "base_link"/>
<child link = "roll_M1_link"/>
<origin xyz = "0.0023 0 -0.0005" rpy = "0 0 0"/>
<limit lower = "-0.2" upper = "0.2" effort = "0.1" velocity = "0.005"/>
<axis xyz = "1 0 0"/>
</joint>