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It could be that you have multiple joints with the same name, then you get this error

This error appears for multiple reasons, but basically there is an error in your urdf model, not a parsing error but another type, e.g. :

• It could be that you have multiple joints with the same name, then you get this error
  name
• links with no parent and therefore not connected to the tree
• etc...

This error appears for multiple reasons, but basically can appear if there is an error in your urdf model, not a parsing error but another type, e.g. :

• It could be that you have multiple joints with the same name
• links with no parent and therefore not connected to the tree
• etc...

(Even if your model.config setup is good)

This error can appear if there is an error in your urdf model, not a parsing error but another type, e.g. :

• It could be that you have multiple joints with the same name
• links with no parent and therefore not connected to the tree
• etc...

    check_urdf <(xacro --inorder model.urdf.xacro)

(Even if your model.config setup is good)

This error can appear if there is an error in your urdf model, not a parsing error but another type, e.g. :

• It could be that you have multiple joints with the same name
• links with no parent and therefore not connected to the tree
• etc...

A quick way to check your urdf model is to do:

    check_urdf <(xacro --inorder model.urdf.xacro)

Credit for this last part : ros answers post