Remove defaut inorder option. Use xacro.load_yaml.

launch/bno055_imu_sim.launch

@@ -12,7 +12,7 @@
     <arg name="debug" value="false"/>
     <arg name="physics" value="ode"/>
     <arg name="verbose" value="false"/>
-    <arg name="world_name" value="worlds/empty.world"/> 
+    <arg name="world_name" value="worlds/empty.world"/>
     <arg name="respawn_gazebo" value="false"/>
     <arg name="use_clock_frequency" value="false"/>
     <arg name="pub_clock_frequency" value="100"/>
@@ -20,13 +20,13 @@
 
   <group ns="imu">
     <param name="robot_description"
-           command="$(find xacro)/xacro --inorder '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" />
+           command="$(find xacro)/xacro '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" />
 
     <node pkg="robot_state_publisher" type="robot_state_publisher" name="bno055_tf_broadcaster">
       <param name="tf_prefix" type="string" value="bno055"/>
       <param name="publish_frequency" type="double" value="20.0"/>
     </node>
-  
+
     <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model imu -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" />
   </group>
 

launch/microstrain_imu_sim.launch

@@ -12,14 +12,14 @@
     <arg name="debug" value="false"/>
     <arg name="physics" value="ode"/>
     <arg name="verbose" value="false"/>
-    <arg name="world_name" value="worlds/empty.world"/> 
+    <arg name="world_name" value="worlds/empty.world"/>
     <arg name="respawn_gazebo" value="false"/>
     <arg name="use_clock_frequency" value="false"/>
     <arg name="pub_clock_frequency" value="100"/>
   </include>
 
   <param name="robot_description"
-         command="$(find xacro)/xacro --inorder '$(find iri_microstrain_imu_description)/urdf/microstrain_imu_example.xacro'" />
+         command="$(find xacro)/xacro '$(find iri_microstrain_imu_description)/urdf/microstrain_imu_example.xacro'" />
 
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="microstrain_tf_broadcaster">
     <param name="tf_prefix" type="string" value="microstrain"/>

launch/mpu9250_imu_sim.launch

@@ -12,7 +12,7 @@
     <arg name="debug" value="false"/>
     <arg name="physics" value="ode"/>
     <arg name="verbose" value="false"/>
-    <arg name="world_name" value="worlds/empty.world"/> 
+    <arg name="world_name" value="worlds/empty.world"/>
     <arg name="respawn_gazebo" value="false"/>
     <arg name="use_clock_frequency" value="false"/>
     <arg name="pub_clock_frequency" value="100"/>
@@ -20,13 +20,13 @@
 
   <group ns="imu">
     <param name="robot_description"
-           command="$(find xacro)/xacro --inorder '$(find iri_mpu9250_imu_description)/urdf/mpu9250_imu_example.xacro'" />
+           command="$(find xacro)/xacro '$(find iri_mpu9250_imu_description)/urdf/mpu9250_imu_example.xacro'" />
 
     <node pkg="robot_state_publisher" type="robot_state_publisher" name="mpu9250_tf_broadcaster">
       <param name="tf_prefix" type="string" value="mpu9250"/>
       <param name="publish_frequency" type="double" value="20.0"/>
     </node>
-  
+
     <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model imu -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" />
   </group>
 

urdf/imu.gazebo

 <?xml version="1.0"?>
 <root xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="iri_imu_gazebo" params="name config">
-    <xacro:property name="properties" value="${load_yaml(config)}"/>
+    <xacro:property name="properties" value="${xacro.load_yaml(config)}"/>
 
     <gazebo reference="${name}">
       <material>Gazebo/Black</material>