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robot_state_publisher expects the robot_description parameter to be in the global namespace, not a private parameter.

robot_description is set as a public parameter because it is used by multiple nodes, not just the robot state publisher.

Try this:

<param name="robot_description" command="$(find xacro)/xacro.py $(arg urdf_file)" />
<!-- Robot_state_publisher: needed for all the tf transformations -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
    <param name="publish_frequency" type="double" value="20" />
</node>