写好的xacro文件可以运行不报错，但是在gazebo和rviz中不显示：

比如下面这样的小车车身部分定义是下面这样的：

    <!-- common link-->
    <xacro:macro name="common_link" params="name material path *origin">
    <!-- 
        *origin是块参数，前面的都是字符串参数。使用*的话默认将调用这个comman_link的部件中第一个        
         模块(比如front_right_wheel中的inertial)
        然后通过<xacro:insert_block name="origin"/>将该模块导入
     -->
        <link name="${ns}/${name}">
            <visual>
                <geometry>
                    <mesh filename="package://yahboomcar_description/meshes/${path}/${name}.STL"/>
                </geometry>
                <origin xyz="0 0 0" rpy="0 0 0"/>
                <material name="${material}"/>
            </visual>
            <collision>
                <geometry>
                    <mesh filename="package://yahboomcar_description/meshes/${path}/${name}.STL"/>
                </geometry>
                <origin xyz="0 0 0" rpy="0 0 0"/>
            </collision>
            <xacro:insert_block name="origin"/>
        </link>
    </xacro:macro>
    <!-- fixed joint-->
    <xacro:macro name="fixed_joint" params="name parent child xyz rpy">
        <joint name="${ns}/${name}" type="fixed">
            <parent link="${ns}/${parent}"/>
            <child link="${ns}/${child}"/>
            <origin xyz="${xyz}" rpy="${rpy}"/>
        </joint>
    </xacro:macro>
    <common_link name="base_link" material="Green" path="mecanum">
        <inertial>
            <origin xyz="0.00498197982182523 5.70233829969297E-05 -0.0121008098068578" rpy="0 0 0"/>
            <mass value="0.486218814966626"/>
            <inertia
                    ixx="0.00196277727666921"
                    ixy="2.50447049446755E-07"
                    ixz="0.000140534767811098"
                    iyy="0.00457256033711368"
                    iyz="2.68618064993882E-07"
                    izz="0.00493927269870476"/>
        </inertial>
    </common_link>
    <fixed_joint name="base_joint" parent="base_footprint" child="base_link" xyz="0.0 0.0 0.0815" rpy="0 0 0"/>

在Ubuntu20.04中，所有复用macro描述后，都要加上xacro前缀gazebo才能够识别，所以需要将上面改为：

<xacro:macro name="common_link" params="name material path rpy *origin">
    <!-- 
        *origin是块参数，前面的都是字符串参数。使用*的话默认将调用这个comman_link的部件中第一个模块(比如front_right_wheel中的inertial)
        然后通过<xacro:insert_block name="origin"/>将该模块导入
     -->
        <link name="${name}">
            <visual>
                <geometry>
                    <mesh filename="package://yahboomcar_description/meshes/${path}/${name}.STL"/>
                </geometry>
                <origin xyz="0 0 0" rpy="${rpy}"/>
                <material name="${material}"/>
            </visual>
            <collision>
                <geometry>
                    <mesh filename="package://yahboomcar_description/meshes/${path}/${name}.STL"/>
                </geometry>
                <origin xyz="0 0 0" rpy="${rpy}"/>
            </collision>
            <xacro:insert_block name="origin"/>
        </link>
    </xacro:macro>

    <!-- fixed joint-->
    <xacro:macro name="fixed_joint" params="name parent child xyz rpy">
        <joint name="${name}" type="fixed">
            <parent link="${parent}"/>
            <child link="${child}"/>
            <origin xyz="${xyz}" rpy="${rpy}"/>
        </joint>
    </xacro:macro>

    <xacro:common_link name="base_link" material="Green" path="mecanum" rpy="0 0 0">
        <inertial>
            <origin xyz="0.00498197982182523 5.70233829969297E-05 -0.0121008098068578" rpy="0 0 0"/>
            <mass value="0.486218814966626"/>
            <inertia
                    ixx="0.00196277727666921"
                    ixy="2.50447049446755E-07"
                    ixz="0.000140534767811098"
                    iyy="0.00457256033711368"
                    iyz="2.68618064993882E-07"
                    izz="0.00493927269870476"/>
        </inertial>
    </xacro:common_link>
    <xacro:fixed_joint name="base_joint" parent="base_footprint" child="base_link" xyz="0.0 0.0 0.0815" rpy="0 0 0"/>

另外，如果想要在gazebo中给小车上色，就需要加上gazebo能够识别的颜色标签：

    <gazebo reference="base_link">
        <material value="Gazebo/Green"/>
    </gazebo>