Chapter 2 codes : Creating XACRO and URDF files

[geekytech]

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Hello, I have tried to create my own URDF file from SolidWorks using SW2URDF exporter but I didn't get a similar URDF file as of yours. The components missing in the generated URDF is "Transmissions for ROS control" and further. So is there something I am doing wrong? Also, I wanted to create a .xacro file so is there a tool to create or I have to code it myself?

Thanks in advance. I am new to this so kindly forgive my errors.