This is just a warning, but i want to solve this problem.
[ WARN] [1592977254.131172803, 0.157000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'shoulder_pan_joint'.
[ WARN] [1592977254.156914192, 0.157000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'shoulder_pitch_joint'.
To solve, in xaco document, change the "<hardwareInterface>PositionJointInterface</hardwareInterface>" to "<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>". That's OK.Like this,
<xacro:macro name="transmission_block" params="joint_name">
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${joint_name}">
<hardwareInterface>hardware_interface/PositionJointInterface </hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>