<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'" />
直接把 .py 换成 -i,
<arg name="urdf_file" default="$(find xacro)/xacro -i '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_hokuyo.urdf.xacro'" />