Hi,everyone.

I'm reading the book《mastering ros robotics programming》,and in chapter 2 I'm meeting some problems when I try to convert the xacro file to urdf file in the demo "sevendofarm".

My system is Ubuntu 16.04 & Ros Kinetic.

The xacro file and it's incluing sensor file are downloaded from https://github.com/qboticslabs/mastering_ros/tree/master/chapter_2_codes/mastering_ros_robot_description_pkg/urdf

When I run the command" rosrun xacro xacro.py sevendofarm.xacro > sevendofarm.urdf "，

the terminal shows:

xacro: Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Order inconsistent namespace redefinitions for xmlns:xacro: old: http://www.ros.org/wiki/xacro1 new: http://ros.org/wiki/xacro1 (/home/dd/catkinworkspace/src/masteringrosrobotdescriptionpkg/urdf/sensors/xtionprolive.urdf.xacro) deprecated: xacro tags should be prepended with 'xacro' xml namespace. Use the following script to fix incorrect usage: find . -iname "*.xacro" | xargs sed -i 's#<([/]\?)(if|unless|include|arg|property|macro|insertblock)#<\1xacro:\2#g' when processing file: sevendofarm.xacro

unknown macro name: xacro:base XacroException(u'unknown macro name: xacro:base',) when processing file: sevendofarm.xacro

Can anyone help me ? Thanks.