urdf parser throws error if links are missing in the control urdf

.github/workflows/test_ros2_jazzy.yml

@@ -0,0 +1,93 @@
+name: ROS2 Jazzy
+
+on:
+  pull_request:
+    types: [opened, synchronize, reopened, labeled, unlabeled]
+  push:
+    branches:
+      - jazzy
+  schedule:
+    - cron:  '0 10 * * *'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  lint:
+    name: Lint package
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        config:
+        - { python: "3.12" }
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.config.python }}
+
+      - name: Lint sources
+        uses: pre-commit/[email protected]
+  webots_spot:
+    name: Webots Spot with Nav2 and Moveit2
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Install ROS2 Jazzy
+        run: >
+          sudo apt update
+
+          sudo apt install -y software-properties-common
+
+          sudo add-apt-repository universe
+
+          curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
+          | sudo apt-key add -
+
+          sudo sh -c 'echo "deb [arch=amd64,arm64]
+          http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" >
+          /etc/apt/sources.list.d/ros2-latest.list'
+
+          sudo apt update
+
+          sudo apt install -y ros-jazzy-ros-base
+          python3-colcon-common-extensions ros-dev-tools
+      - name: Install Webots 2023b
+        run: |
+          sudo apt update
+          sudo apt install -y wget dialog apt-utils psmisc lsb-release git
+          sudo wget https://github.com/cyberbotics/webots/releases/download/R2023b/webots_2023b_amd64.deb -O /tmp/webots.deb
+          sudo apt install -y /tmp/webots.deb xvfb
+      - name: Create Workspace
+        run: |
+          mkdir -p ~/ros2_ws/src
+          cp -r $GITHUB_WORKSPACE/. ~/ros2_ws/src/webots_ros2_spot
+      - name: Install Webots Spot Dependencies
+        run: |
+          cd ~/ros2_ws
+          source /opt/ros/jazzy/setup.bash
+          sudo rosdep init
+          rosdep update
+          sudo apt install -y libunwind-dev # Nav2 dependency
+          rosdep install --from-paths src --ignore-src -r -y
+          vcs import --recursive src --skip-existing --input src/webots_ros2_spot/webots_ros2_spot.repos
+          chmod +x src/webots_ros2/webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py
+      - name: Build Packages
+        run: |
+          cd ~/ros2_ws
+          source /opt/ros/jazzy/setup.bash
+          colcon build --symlink-install
+          source install/setup.bash
+      - name: Test
+        run: |
+          export WEBOTS_RELEASE_VERSION=2023b-rev1
+          export WEBOTS_OFFSCREEN=1
+          export CI=1
+          export DEBIAN_FRONTEND=noninteractive
+          cd ~/ros2_ws
+          source install/setup.bash
+          colcon test --ctest-args tests --packages-select webots_spot --event-handlers console_direct+ --return-code-on-test-failure

launch/spot_launch.py

@@ -27,7 +27,7 @@ def get_ros2_nodes(*args):
         parameters=[
             {
                 "robot_description": os.path.join(
-                    package_dir, "resource", "spotarm_control.urdf"
+                    package_dir, "resource", "spotarm.urdf"
                 )
             },
             {"use_sim_time": True},
@@ -37,7 +37,7 @@ def get_ros2_nodes(*args):
     )
 
     # ROS2 control spawners for SpotArm
-    controller_manager_timeout = ["--controller-manager-timeout", "500"]
+    controller_manager_timeout = ["--controller-manager-timeout", "50"]
     controller_manager_prefix = "python.exe" if os.name == "nt" else ""
     trajectory_controller_spawner = Node(
         package="controller_manager",
@@ -98,17 +98,15 @@ def generate_launch_description():
         robot_name="Spot",
         parameters=[
             {
-                "robot_description": os.path.join(
-                    package_dir, "resource", "spot_control.urdf"
-                ),
+                "robot_description": os.path.join(package_dir, "resource", "spot.urdf"),
                 "use_sim_time": True,
                 "set_robot_state_publisher": False,  # foot positions are wrong with webot's urdf
             }
         ],
         respawn=True,
     )
 
-    with open(os.path.join(package_dir, "resource", "spot.urdf")) as f:
+    with open(os.path.join(package_dir, "resource", "spotarm.urdf")) as f:
         robot_desc = f.read()
 
     robot_state_publisher = Node(