Converting xacro to urdf ROS2

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ros-galactic-xacro is installed as a Python executable and can be invoked as such:

xacro [in.urdf.xacro] > [out.urdf]

I have never used ROS2 but maybe there is a command similar to the one in ROS1, which is:

rosrun xacro xacro --inorder your_model.urdf.xacro > your_model.urdf

Any instruction of this type must be executed from the terminal being in the directory where the URDF XACRO model is located and where you want to generate the URDF copy. Maybe that's why the command you mention doesn't work.

In case something similar does not exist, you can do the conversion manually but it will take some time. Especially if you used any xacro-macro. If you didn't use any macro you only have to modify the header of the xml file.

A XACRO file starts like this:

<?xml version="1.0" encoding="utf-8"?>
<robot name="your_robot_name" xmlns:xacro="http://www.ros.org/wiki/xacro">

While one URDF:

<?xml version="1.0" encoding="utf-8" ?>
<robot name="your_robot_name">

Just remove the "xmlns:xacro="http://www.ros.org/wiki/xacro"