Merge branch 'melodic_migration' into 'master'

Melodic migration

See merge request !1

launch/description.launch

@@ -9,13 +9,13 @@
   <group ns="$(arg ns)">
     
     <param name="robot_description"
-         command="$(find xacro)/xacro --inorder '$(find iri_ana_description)/urdf/$(arg model).xacro' name:=$(arg ns)" />
+         command="$(find xacro)/xacro '$(find iri_ana_description)/urdf/$(arg model).xacro' name:=$(arg ns)" />
 
     <node if="$(arg state_pub)"
           pkg="robot_state_publisher"
-          type="state_publisher"
+          type="robot_state_publisher"
           name="state_publisher">
-      <param name="tf_prefix" type="string" value="/$(arg ns)"/>
+      <param name="tf_prefix" type="string" value="$(arg ns)"/>
       <param name="publish_frequency" type="double" value="20.0"/>
     </node>