Chapter 3 Xacro files and urdf files results are different while xacro being wrong

[rohitdavas]

W.r.t to chapter 3 I would like to raise some issues.
**ROS ** - Noetic

Issue one :
roslaunch robot_description arm_gazebo_control.launch and roslaunch robot_description arm_gazebo_control_xacro.launch produces different results.

The results can be seen below.

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2. Manipulator urdf file launch gives correct results while xacro file throws error. Plus in source code of manipulator xacro launch you are launching the urdf file only.

result of xacro launch

result of urdf file launch

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I have also checked whether urdf files generated through rosrun xacro xacro filename > outfilename are working or not. They are giving the same error.
I have spent many hours thinking I was making some mistake.

[rishabkr29]

Hey... Can you tell me which standard Robotic arm has been used in this project ?
can you give me the reference of Inverse Kinematics of this robot ?