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In my case it seemed that the environment variable ROS_PACKAGE_PATH did not have the franka_description path.

Try adding it and see if you get farther.

In my case I still had to apt-get install python-defusedxml and then symlink it from /usr/lib/python2.7/dist-packages/defusedxml to /opt/ros/melodic/lib/python/dist-packages/defusedxml

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