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My arguments look like this <arg name="base" value="$(optenv TURTLEBOT_BASE kobuki)"/> <arg name="stacks" value="$(optenv TURTLEBOT_STACKS hexagons)"/> <arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>

You can use a command like this to load the urdf file <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'"/>

base, stacks and 3d_sensor are arguments that you can pass to it.

Thanks a lot! I was searching for this problem for about 2 hours. You saved my day! :)