nav2_gps_waypoint_follower_demo:XML Parsing Error: XML or text declaration not at start of entity

对nav2_gps_waypoint_follower_demo中定义的urdf文件turtlebot3_waffle_gps.urdf，在launch时采用如下方式加载：

default_model_path = os.path.join(pkg_share, 'urdf/turtlebot3_waffle_gps.urdf')
launch.actions.DeclareLaunchArgument(name='model', default_value=default_model_path,
                                            description='Absolute path to robot urdf file'),

执行时提示：XML Parsing Error: XML or text declaration not at start of entity。

具体如下：

[ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command failed. Command: xacro /home/tom/Tom/DockerContent/nav2_ws/install/nav2_gps_waypoint_follower_demo/share/nav2_gps_waypoint_follower_demo/urdf/turtlebot3_waffle_gps.urdf
Captured stderr output: XML parsing error: XML or text declaration not at start of entity: line 4, column 0

打开turtlebot3_waffle_gps.urdf文件看前几行的代码：

<!-- This is the same turtlebot urdf in nav2 with the following changes -->
<!-- 1. A link for the GPS sensor is added -->

<?xml version="1.0" ?>
<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/>

根据错误提示，第4行xml的声明不在入口的开始（XML or text declaration not at start of entity: line 4, column 0），于是将前面的注释和空格都删掉，前面几行改为：

<?xml version="1.0" ?>
<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/>

再次编译执行，就好了。

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