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The problem seems to be related to the TinyXML2 version you are using. TinyXML2 version 4.0.1 (which is e.g. in Ubuntu Zesty) has a bug making it unable to parse xml-model correctly. All other versions (3.0.0 and lower as well as 5.0.0 and higher) don't have the problem and work as expected (see https://github.com/ros/rospack/issues/77). To address the problem you should update to a newer version of TinyXML2.

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