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You have 2 steps to figure out this problem :

First is to go to your Xacro files which are in your robot_description package and for each one of them type this command at the Terminal :

" rosrun xacro xacro [filename.xacro/filename.urdf.xacro] "

Then you can find out where is the problem comes from.

And the second step is to go to this site

" http://wiki.ros.org/xacro "

And read about the new changes to convert your file and resolve the problem.

Good luck