Problem reloading robot model

[Patrick-Lascombe]

Hello it is me again,
The model is loading fine when I start the node and the filtering is great. But when I try to reload a similar urdf with a collision box change I get this error :

[ERROR] [/pointcloud_filter]: Unable to parse component [${M_PI/2}] to a double (while parsing a vector value)
[ERROR] [/pointcloud_filter]: Could not parse visual element for Link [camera_tracking_pose_frame]
[ERROR] [/pointcloud_filter]: Unable to parse component [${M_PI/2}] to a double (while parsing a vector value)
[ERROR] [/pointcloud_filter]: Could not parse visual element for Link [laser]
[ERROR] [/pointcloud_filter]: Unable to parse component [${M_PI/2}] to a double (while parsing a vector value)
[ERROR] [/pointcloud_filter]: Could not parse visual element for Link [imu_bottom_center]
[ERROR] [/pointcloud_filter]: Unable to parse component [${M_PI}] to a double (while parsing a vector value)
[ERROR] [/pointcloud_filter]: Malformed parent origin element for joint [camera_tracking_joint]
[ERROR] [/pointcloud_filter]: joint xml is not initialized correctly
[ERROR] [/pointcloud_filter]: RobotBodyFilter: The URDF model given in parameter '/robot_description' cannot be parsed. See urdf::Model::initString for debugging, or try running 'gzsdf my_robot.urdf'

Is the parsing or init method different between the start of the node and the reload of the model ?

Thanks again for the help

[peci1]

Hi Patrick. It very much seems you have a problem rendering the updated URDF. Did you pass it through Xacro? Can you post here the result of rosparam get /robot_description before and after the reload?

[Patrick-Lascombe]

You were correct !
I converter my xacro file to urdf using rosrun xacro xacro and reloading the urdf file worked well !
Thanks for your help again