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I had the same problem and solved it using the script but we found another way now. We use the following code to circumvent using tf_prefix because support has been dropped. I am not sure if this was added in hydro but we just tested the following code and it works. Please test with groovy and reply if it worked.

<param name="robot_description" command="$(find xacro)/xacro.py '$(find my_robot_description)/urdf/my_robot.urdf.xacro' prefix:=$(arg ns)" />

in the xacro file you can simply get the passed argument using $(arg prefix)