nvalid param tag Cannot load command parameter robot_description

XML parsing error: mismatched tag: line 648, column 2
when processing file: /home/whj/catkin_ws_marm/src/mhand_3/urdf/xacro/mhand_3_base.xacro
included from: /home/whj/catkin_ws_marm/src/mhand_3/urdf/xacro/mhand_3.urdf.xacro

Check that:
 - Your XML is well-formed
 - You have the xacro xmlns declaration: xmlns:xacro="http://www.ros.org/wiki/xacro"
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --inorder '/home/whj/catkin_ws_marm/src/mhand_3/urdf/xacro/mhand_3.urdf.xacro'] returned with code [2]. 

Param xml is <param command="$(arg model)" name="robot_description"/>
The traceback for the exception was written to the log file

解决：1.xacro文件有问题，我的是在只有  <xacro:macro>开头标签忘了加  </xacro:macro>结尾标签

2. 不能有中文注释

3.其他原因参考https://blog.csdn.net/dorothy0129/article/details/95043388或百度