Hello,

• Ubuntu 16.04
• Ros Kinetic
• xacro 1.11.3

I am trying to simulate Baxter on Gazebo, I used the following instructions for the installation:
baxter simulation

But after typing the command:

roslaunch baxter_gazebo baxter_world.launch

it gives me this error:

Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro -i /home/baxter3/catkin_ws/src/baxter_common/baxter_description/urdf/baxter.urdf.xacro gazebo:=true left_electric_gripper:=true right_electric_gripper:=true] returned with code [2].

Param xml is <param command="$(find xacro)/xacro -i $(find baxter_description)/urdf/baxter.urdf.xacro gazebo:=true left_electric_gripper:=$(arg left_electric_gripper) right_electric_gripper:=$(arg right_electric_gripper)" if="$(arg load_robot_description)" name="robot_description"/> The traceback for the exception was written to the log file

I tried to solve this problem with :

• add --inorder front of xacro
• delete --inorder from xml
• replace --inorder to -i

but anything can't solve my problem.