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as pointed out by @dirk-thomas, this comes from a regression in tinyxml2 v4.0.1. We had to release a patched version in ROS to work around this issue, see https://github.com/ros/rospack/issues/77#issuecomment-356619084 for more details.

The patch is API/ABI compatible so you shouldn't need to rebuild anything on top for this to work.

uninstalling libtinyxml2-dev and libtinyxml2-4
building from source and installing https://github.com/mikaelarguedas/tinyxml2/tree/4.0.1-patch

Hope this helps

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