diff --git a/bioloid_controller/src/sim/stm32_dyn_master.c b/bioloid_controller/src/sim/stm32_dyn_master.c
index eb113057f656920dd10475b32c5e3551c3a6ae3f..e7adce4ca030f58eb3b56aae541ce9f6829ed73a 100644
--- a/bioloid_controller/src/sim/stm32_dyn_master.c
+++ b/bioloid_controller/src/sim/stm32_dyn_master.c
@@ -15,12 +15,12 @@ void dyn_master_set_rx_timeout(TDynamixelMaster *master,unsigned short int timeo
   master->rx_timeout_ms=timeout_ms;
 }
 
-inline void dyn_master_set_return_level(TDynamixelMaster *master,return_level_t level)
+inline void dyn_master_set_return_level(TDynamixelMaster *master,TReturnLevel level)
 {
   master->return_level=level;
 }
 
-inline return_level_t dyn_master_get_return_level(TDynamixelMaster *master)
+inline TReturnLevel dyn_master_get_return_level(TDynamixelMaster *master)
 {
   return master->return_level;
 }
diff --git a/bioloid_description/launch/bioloid_base.launch b/bioloid_description/launch/bioloid_base.launch
index 2473f6dbaa3229fd283b8d54708d096b6dbe7e1f..0f4b08e0b3dfa70fb18b31b7af124f108c29f4d1 100644
--- a/bioloid_description/launch/bioloid_base.launch
+++ b/bioloid_description/launch/bioloid_base.launch
@@ -3,7 +3,7 @@
   <arg name="use_pan_tilt" default="false" />
 
   <!-- Convert an xacro and put on parameter server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/$(arg robot).xacro' use_pan_tilt:=$(arg use_pan_tilt)"/>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/$(arg robot).xacro' use_pan_tilt:=$(arg use_pan_tilt)"/>
 
   <node pkg="robot_state_publisher" type="state_publisher" name="bioloid_tf_broadcaster">
     <param name="tf_prefix" type="string" value="/bioloid"/>
diff --git a/bioloid_description/launch/bioloid_test.launch b/bioloid_description/launch/bioloid_test.launch
index 66a25563fedf07b6ba6761956c23d4cc8b366c3a..067cfb37d9d48f26b8d79385244249fba6aabfa4 100644
--- a/bioloid_description/launch/bioloid_test.launch
+++ b/bioloid_description/launch/bioloid_test.launch
@@ -5,7 +5,7 @@
 
   <!-- Convert an xacro and put on parameter server -->
   <param name="robot_description"
-         command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/$(arg robot).xacro' use_pan_tilt:=$(arg use_pan_tilt)" />
+         command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/$(arg robot).xacro' use_pan_tilt:=$(arg use_pan_tilt)" />
 
   <node pkg="robot_state_publisher" type="state_publisher" name="bioloid_tf_broadcaster">
     <param name="tf_prefix" type="string" value="/bioloid"/>
diff --git a/bioloid_description/launch/obstacles_env.launch b/bioloid_description/launch/obstacles_env.launch
index bad6c25b04176744789cdb833d14a4f8279f47eb..0b750f597d574fce02dcccc7aa7b3ec68f5eef05 100644
--- a/bioloid_description/launch/obstacles_env.launch
+++ b/bioloid_description/launch/obstacles_env.launch
@@ -3,7 +3,7 @@
 
   <!-- Convert an xacro and put on parameter server -->
   <param name="obstacles_environment"
-         command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
+         command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
 
   <node name="spawn_obstacles" pkg="gazebo_ros" type="spawn_model" args="-param obstacles_environment -urdf -model obstacles -x 1.0 -y 0.25 -z 0.03 -R 0 -P 0 -Y 3.14159"/>
 
diff --git a/bioloid_description/launch/stairs_env.launch b/bioloid_description/launch/stairs_env.launch
index d89ceb016ea0fc1b8f93812562e892c88608cbf7..6d05f0b3937a452f9f0cdf751ddeed9a87c2c39d 100644
--- a/bioloid_description/launch/stairs_env.launch
+++ b/bioloid_description/launch/stairs_env.launch
@@ -3,7 +3,7 @@
 
   <!-- Convert an xacro and put on parameter server -->
   <param name="stairs_environment"
-         command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
+         command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
 
   <node name="spawn_stairs" pkg="gazebo_ros" type="spawn_model" args="-param stairs_environment -urdf -model obstacles -x 1.0 -y 0.25 -z 0.03 -R 0 -P 0 -Y 3.14159"/>
 
diff --git a/bioloid_description/launch/vision_env.launch b/bioloid_description/launch/vision_env.launch
index 240ff829877c7a07a7019e8dc3dbde33eb9e29a5..9b900bc74d4e127bc2447007abe808353e49292b 100644
--- a/bioloid_description/launch/vision_env.launch
+++ b/bioloid_description/launch/vision_env.launch
@@ -3,7 +3,7 @@
 
   <!-- Convert an xacro and put on parameter server -->
   <param name="vision_environment"
-         command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
+         command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
 
   <node name="spawn_vision" pkg="gazebo_ros" type="spawn_model" args="-param vision_environment -urdf -model obstacles -x 1.0 -y 1.25 -z 0.03 -R 0 -P 0 -Y 3.14159"/>
 
diff --git a/bioloid_description/urdf/ceabot/obstacle.xacro b/bioloid_description/urdf/ceabot/obstacle.xacro
index b8c6e6bdc0b7d73c2b3e3cefeae54d043e68a12c..1f9c193cd0991f63ab069d950cb079ccf3ef6922 100644
--- a/bioloid_description/urdf/ceabot/obstacle.xacro
+++ b/bioloid_description/urdf/ceabot/obstacle.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find bioloid_description)/urdf/qrcodes/qrcode.xacro" />
 
diff --git a/bioloid_description/urdf/ceabot/obstacle_base.xacro b/bioloid_description/urdf/ceabot/obstacle_base.xacro
index c5b0048c66f0fe90b1c05ef2f07746069b5d046b..7f65bb6ca06abc7d9370dddc4158e08400ba147a 100644
--- a/bioloid_description/urdf/ceabot/obstacle_base.xacro
+++ b/bioloid_description/urdf/ceabot/obstacle_base.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="obstacle_base" params="name">
     <link name="${name}_link">
diff --git a/bioloid_description/urdf/ceabot/obstacle_vis.xacro b/bioloid_description/urdf/ceabot/obstacle_vis.xacro
index e1ad12dd7fbadfb44439428c9163ab4ebb5a1582..dd0090904e042af46fd71d74aebb7a1c503eadc2 100644
--- a/bioloid_description/urdf/ceabot/obstacle_vis.xacro
+++ b/bioloid_description/urdf/ceabot/obstacle_vis.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find bioloid_description)/urdf/qrcodes/qrcode.xacro" />
 
diff --git a/bioloid_description/urdf/ceabot/stairs.xacro b/bioloid_description/urdf/ceabot/stairs.xacro
index ccb322df46ec219cb5b10f675503c02a256cc5df..65ecbb7f9eeccb6469f045d860e4b7cdea406c8d 100644
--- a/bioloid_description/urdf/ceabot/stairs.xacro
+++ b/bioloid_description/urdf/ceabot/stairs.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="stairs" params="name parent orientation">
   <!-- obstacle -->
diff --git a/bioloid_description/urdf/pan_tilt.xacro b/bioloid_description/urdf/pan_tilt.xacro
index 57f9f0b90a7747a8307ea99536991496e35485d1..2a2f53b1d605f972c27ccae7ea6f849f857b5e83 100755
--- a/bioloid_description/urdf/pan_tilt.xacro
+++ b/bioloid_description/urdf/pan_tilt.xacro
@@ -1,4 +1,4 @@
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="pan_tilt" params="parent *origin">
 
diff --git a/bioloid_description/urdf/qrcodes/qrcode.xacro b/bioloid_description/urdf/qrcodes/qrcode.xacro
index 4541ca46ca8203ca49447209f3b431d3382fcf48..8a1133ab29291d568daa65f40ca8f71e471afaa6 100644
--- a/bioloid_description/urdf/qrcodes/qrcode.xacro
+++ b/bioloid_description/urdf/qrcodes/qrcode.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="qrcode" params="name parent code size *origin">
     <!-- obstacle -->
diff --git a/bioloid_description/urdf/sensors/cny70_ir.gazebo b/bioloid_description/urdf/sensors/cny70_ir.gazebo
index 907f5a1df8a094c64f25494cbdabba79d2eb64f5..c807741eb8905b349b9fe21acd1444f5231276bc 100644
--- a/bioloid_description/urdf/sensors/cny70_ir.gazebo
+++ b/bioloid_description/urdf/sensors/cny70_ir.gazebo
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="cny70_ir_gazebo" params="name namespace update_rate fov min_range max_range">
     <gazebo reference="${name}_ir_link">
diff --git a/bioloid_description/urdf/sensors/cny70_ir.xacro b/bioloid_description/urdf/sensors/cny70_ir.xacro
index bac20e16eca687ae3ec32f7806623d5bf41bf2cf..4495c1ace34839af3e33d7c8837f8b8f13e8389a 100644
--- a/bioloid_description/urdf/sensors/cny70_ir.xacro
+++ b/bioloid_description/urdf/sensors/cny70_ir.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find bioloid_description)/urdf/sensors/cny70_ir.gazebo" />
 
diff --git a/bioloid_description/urdf/sensors/feet_ir.xacro b/bioloid_description/urdf/sensors/feet_ir.xacro
index ecb44956a554d78b42039b9e1adb84d71633b98e..df95c96ce22b26716a9779851f8d3bdf218af136 100644
--- a/bioloid_description/urdf/sensors/feet_ir.xacro
+++ b/bioloid_description/urdf/sensors/feet_ir.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find bioloid_description)/urdf/sensors/cny70_ir.xacro" />
 
diff --git a/bioloid_description/urdf/sensors/ids_xs.gazebo b/bioloid_description/urdf/sensors/ids_xs.gazebo
index 807ab8f3c78cdfb318ba46577ae485a604ce173a..12b28308b4b711ac49764a398cfaf8e2e11f9c8f 100644
--- a/bioloid_description/urdf/sensors/ids_xs.gazebo
+++ b/bioloid_description/urdf/sensors/ids_xs.gazebo
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="ids_xs_gazebo" params="name">
     <gazebo reference="${name}_link">
diff --git a/bioloid_description/urdf/sensors/ids_xs.xacro b/bioloid_description/urdf/sensors/ids_xs.xacro
index 5bc8c67a4d724f962f448ad3ad80128ddb2ab497..7856dc3dcf462557a33e4aae4ab228e57e0c7f77 100644
--- a/bioloid_description/urdf/sensors/ids_xs.xacro
+++ b/bioloid_description/urdf/sensors/ids_xs.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find bioloid_description)/urdf/sensors/ids_xs.gazebo" />
 
diff --git a/bioloid_description/urdf/sensors/sharp_ir.gazebo b/bioloid_description/urdf/sensors/sharp_ir.gazebo
index 117d9f436704c21a813ccbb6c66ef5cd104d48fd..237d7cc887ce9ba75e7b590d923527751d6dfaec 100644
--- a/bioloid_description/urdf/sensors/sharp_ir.gazebo
+++ b/bioloid_description/urdf/sensors/sharp_ir.gazebo
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="sharp_ir_gazebo" params="name update_rate fov min_range max_range">
     <gazebo reference="${name}_link">
diff --git a/bioloid_description/urdf/sensors/sharp_ir.xacro b/bioloid_description/urdf/sensors/sharp_ir.xacro
index 611517486aab7b744ac7331d68bf2818d1de89ff..2f0e2a450900cfe06159e2cee4abd22277741780 100644
--- a/bioloid_description/urdf/sensors/sharp_ir.xacro
+++ b/bioloid_description/urdf/sensors/sharp_ir.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find bioloid_description)/urdf/sensors/sharp_ir.gazebo" />
 
diff --git a/bioloid_description/urdf/tina.xacro b/bioloid_description/urdf/tina.xacro
index 3ecd293f1443f43c2a3c69c1cd258a01c012bab8..6215f1e8216ae785c4a365c0ac1f469224baa732 100755
--- a/bioloid_description/urdf/tina.xacro
+++ b/bioloid_description/urdf/tina.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<robot name="bioloid" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="bioloid" xmlns:xacro="http://www.ros.org/wiki/xacro">
  
   <xacro:include filename="$(find bioloid_description)/urdf/bioloid.xacro" />
   <xacro:include filename="$(find bioloid_description)/urdf/tina.gazebo" />