Some problems of conversion of xacro to urdf

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Hi,everyone. I'm reading the book《mastering ros robotics programming》,and in chapter 2 I'm meeting some problems when I try to convert the xacro file to urdf file in the demo "seven_dof_arm".

My system is Ubuntu 16.04 & Ros Kinetic.

The xacro file and it's incluing sensor file are downloaded from https://github.com/qboticslabs/master...

When I run the command rosrun xacro xacro.py seven_dof_arm.xacro > seven_dof_arm.urdf，

the terminal shows:

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
inconsistent namespace redefinitions for xmlns:xacro:
old: http://www.ros.org/wiki/xacro1
new: http://ros.org/wiki/xacro1 (/home/dd/catkin_workspace/src/mastering_ros_robot_description_pkg/urdf/sensors/xtion_pro_live.urdf.xacro)
deprecated: xacro tags should be prepended with 'xacro' xml namespace.
Use the following script to fix incorrect usage:
find . -iname "*.xacro" | xargs sed -i 's#<([/]\?)(if\|unless\|include\|arg\|property\|macro\|insert_block)#<\1xacro:\2#g'
when processing file: seven_dof_arm.xacro

unknown macro name: xacro:base
XacroException(u'unknown macro name: xacro:base',)
when processing file: seven_dof_arm.xacro

Can anyone help me ? Thanks.