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Hi,

To use XACRO in ROS2 you need to process the XACRO and convert it to xml:

import xacro

xacro_file = os.path.join(get_package_share_directory('box_car_description'), 'robot/', 'box_bot.xacro')    
assert os.path.exists(xacro_file), "The box_bot.xacro doesnt exist in "+str(xacro_file)

robot_description_config = xacro.process_file(xacro_file)
robot_desc = robot_description_config.toxml()

I'll leave a git as an example for this of how to spawn a simple box robot that uses xacro, have a look at the spawning scripts:

GIT with EXAMPLE

SPAWN 1

SPAWN 2

ROSject Plug and play example

YOUTUBE VIDEO

Hope this helps

You should get something like this in the example: