Getting xml parsing error when in launch.py

edit

I am running the following command:

ros2 launch my_bot rsp.launch.py

Unfortunately, it is throwing the following error:

[INFO] [launch]: All log files can be found below /home/akash/.ros/log/2022-09-09-22-25-07-523837-akash-5490
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=InvalidLaunchFileError('py')>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 53, in get_launch_description_from_any_launch_file
    return loader(launch_file_path)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/akash/dev_ws/install/my_bot/share/my_bot/launch/rsp.launch.py", line 21, in generate_launch_description
    robot_description_config = xacro.process_file(xacro_file)
  File "/opt/ros/foxy/lib/python3.8/site-packages/xacro/_init_.py", line 1074, in process_file
    process_doc(doc, **kwargs)
  File "/opt/ros/foxy/lib/python3.8/site-packages/xacro/_init_.py", line 1025, in process_doc
    eval_all(doc.documentElement, macros, symbols)
  File "/opt/ros/foxy/lib/python3.8/site-packages/xacro/_init_.py", line 905, in eval_all
    process_include(node, macros, symbols, eval_all)
  File "/opt/ros/foxy/lib/python3.8/site-packages/xacro/_init_.py", line 502, in process_include
    include = parse(None, filename).documentElement
  File "/opt/ros/foxy/lib/python3.8/site-packages/xacro/_init_.py", line 994, in parse
    return xml.dom.minidom.parse(inp)
  File "/usr/lib/python3.8/xml/dom/minidom.py", line 1959, in parse
    return expatbuilder.parse(file)
  File "/usr/lib/python3.8/xml/dom/expatbuilder.py", line 913, in parse
    result = builder.parseFile(file)
  File "/usr/lib/python3.8/xml/dom/expatbuilder.py", line 207, in parseFile
    parser.Parse(buffer, 0)
xml.parsers.expat.ExpatError: not well-formed (invalid token): line 27, column 17

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/include_launch_description.py", line 130, in execute
    launch_description = self.__launch_description_source.get_launch_description(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
    self.get_launch_description(self._expanded_location)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
    return get_launch_description_from_any_launch_file(location)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch ...