Cannot load command parameter [robot_description]

报错：

Check that:
 - Your XML is well-formed
 - You have the xacro xmlns declaration: xmlns:xacro="http://www.ros.org/wiki/xacro"
RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '/home/ren/code/urdfdemo/demo05_ws/src/urdf02_gazebo/urdf/car.urdf.xacro']] returned with code [2].

Param xml is <param name="robot_description" command="$(find xacro)/xacro $(find urdf02_gazebo)/urdf/car.urdf.xacro"/>
The traceback for the exception was written to the log file

原因： xacro文件有问题

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，因为直接复制的github上的代码，多复制了一个Footer在结尾；

2. 不能有中文注释

3.其他原因参考Invalid <param> tag: Cannot load command parameter [robot_description] 出错解决_dori_z的博客-CSDN博客或百度