Invalid ＜param＞ tag: Cannot load command parameter [robot_description] 出错解决

启动机器人时，运行launch文件突然报错。按照提示是xacro命令出错

打开提示错误的文件mobot_w_lidar.launch

<launch>
<!-- Convert xacro model file and put on parameter server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find mobot_urdf)/urdf/mobot_w_lidar.xacro'" />

<!-- Spawn the robot from parameter server into Gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model mobot" />

<!-- start a robot_state_publisher -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

</launch>

直接把 .py 换成 -i，如下

<param name="robot_description" command="$(find xacro)/xacro -i '$(find mobot_urdf)/urdf/mobot_w_lidar.xacro'" />

 

修改后保存继续运行roslaunch mobot_urdf mobot_w_lidar.launch，然后就没有报错了，可以正常运行。