Xacro include breaks including xacro file
I have a xacro file named "diff_wheeled_robot.urdf.xacro" to describe a robot and it works just fine. It is including other xacro files and their xacro macros. Now I want to include another xacro file describing a laser. The following code is the laser file ("rplidar.urdf.xacro"):
<?xml version="1.0"?>
<robot name="rplidar" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find testbot_description)/urdf/inertias.urdf.xacro" />
<xacro:include filename="$(find testbot_description)/urdf/materials.urdf.xacro" />
<xacro:property name="rplidar_mass" value="0.2" />
<xacro:property name="rplidar_radius" value="0.0757" />
<xacro:property name="rplidar_height" value="0.04080" />
<xacro:macro name="rplidar" params="parent translateX translateY">
<link name="rplidar_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<mass value="${rplidar_mass}"/>
<cylinder_inertia m="${rplidar_mass}" r="${rplidar_radius}" h="${rplidar_height}"/>
</inertial>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder length="${rplidar_height}" radius="${rplidar_radius}" />
</geometry>
<material name="Blue" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder length="${rplidar_height}" radius="${rplidar_radius}" />
</geometry>
</collision>
</link>
<joint name="rplidar_joint" type="fixed">
<parent link="${parent}"/>
<child link="rplidar_link"/>
</joint>
<gazebo reference="rplidar_link">
<material>Gazebo/Blue</material>
<turnGravityOff>false</turnGravityOff>
<sensor type="ray" name="rplidar_sensor">
<pose>${rplidar_radius/2} 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>8000</samples>
<min_angle>0</min_angle>
<max_angle>3.14159265359</max_angle>
</horizontal>
</scan>
<range>
<min>0.15</min>
<max>8.0</max>
<resolution>0.001</resolution>
</range>
</ray>
<plugin name="gazebo_ros_head_rplidar_controller" filename="libgazebo_ros_laser.so">
<topicName>/scan</topicName>
<frameName>rplidar_link</frameName>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
</robot>
But when I try to include it via
<xacro:include filename="${find testbot_description)/urdf/rplidar.urdf.xacro" />
and I run
rosrun xacro xacro --inorder diff_wheeled_robot.urdf.xacro
I get an error:
No such file or directory: None None
when processing file: diff_wheeled_robot.urdf.xacro
What am I doing wrong?
ROS Kinetic
Ubuntu 16.04