ResourceNotFound: xarco

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Hi, I am trying to write a launch file for a URDF. When I run rosrun xacro xacro workcell.xarco the ,xarco runs no problem, but when I run my .launch file I get

ResourceNotFound: xarco
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/donni/ROS_ws/ind_ws/src
ROS path [2]=/opt/ros/kinetic/share

Also, when I run rospack find xarco, ros doese not find xarco. How is ros able to run xarco using rosrun, but can't find it with rospack. Also, how do I add xarco to my ros environment?

Thank you