From 8fdb8c837dc6f1da67f5923b3b0ca38d9593db26 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20J=C3=BClg?= <christian.juelg@optonic.com>
Date: Wed, 22 Sep 2021 15:26:14 +0200
Subject: [PATCH] fix deprecated xacro.py command

---
 kuka_eki_hw_interface/krl/README.md                       | 2 +-
 kuka_kr10_support/launch/load_kr10r1100sixx.launch        | 2 +-
 kuka_kr120_support/launch/load_kr120r2500pro.launch       | 2 +-
 kuka_kr210_support/launch/load_kr210l150.launch           | 2 +-
 kuka_kr6_support/launch/load_kr6r700sixx.launch           | 2 +-
 kuka_kr6_support/launch/load_kr6r900sixx.launch           | 2 +-
 kuka_lbr_iiwa_support/launch/load_lbr_iiwa_14_r820.launch | 2 +-
 kuka_rsi_hw_interface/krl/KR_C2/README.md                 | 2 +-
 kuka_rsi_hw_interface/krl/KR_C4/README.md                 | 2 +-
 kuka_rsi_hw_interface/test/test_two_robots.launch         | 4 ++--
 10 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/kuka_eki_hw_interface/krl/README.md b/kuka_eki_hw_interface/krl/README.md
index 5b5e7b54b..27cc8be31 100644
--- a/kuka_eki_hw_interface/krl/README.md
+++ b/kuka_eki_hw_interface/krl/README.md
@@ -42,7 +42,7 @@ We recommend that you copy the configuration files, edit the copies for your nee
 In order to successfully launch the **kuka_eki_hw_interface** a parameter `robot_description` needs to be present on the ROS parameter server. This parameter can be set manually or by adding this line inside the launch file (replace support package and .xacro to match your application):
 
 ```xml
-<param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr6_support)/urdf/kr6r900sixx.xacro'"/>
+<param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr6_support)/urdf/kr6r900sixx.xacro'"/>
 ```
 
 Make sure that the line is added before the `kuka_eki_hw_interface` itself is loaded.
diff --git a/kuka_kr10_support/launch/load_kr10r1100sixx.launch b/kuka_kr10_support/launch/load_kr10r1100sixx.launch
index dae4ecd42..c9b1eb053 100644
--- a/kuka_kr10_support/launch/load_kr10r1100sixx.launch
+++ b/kuka_kr10_support/launch/load_kr10r1100sixx.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr10_support)/urdf/kr10r1100sixx.xacro'"/>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr10_support)/urdf/kr10r1100sixx.xacro'"/>
 </launch>
diff --git a/kuka_kr120_support/launch/load_kr120r2500pro.launch b/kuka_kr120_support/launch/load_kr120r2500pro.launch
index 6819876c4..14d9e3348 100644
--- a/kuka_kr120_support/launch/load_kr120r2500pro.launch
+++ b/kuka_kr120_support/launch/load_kr120r2500pro.launch
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Load robot description to parameter server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr120_support)/urdf/kr120r2500pro.xacro'"/>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr120_support)/urdf/kr120r2500pro.xacro'"/>
 </launch>
diff --git a/kuka_kr210_support/launch/load_kr210l150.launch b/kuka_kr210_support/launch/load_kr210l150.launch
index 2b7e8f449..f09541209 100644
--- a/kuka_kr210_support/launch/load_kr210l150.launch
+++ b/kuka_kr210_support/launch/load_kr210l150.launch
@@ -1,3 +1,3 @@
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr210_support)/urdf/kr210l150.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr210_support)/urdf/kr210l150.xacro'" />
 </launch>
diff --git a/kuka_kr6_support/launch/load_kr6r700sixx.launch b/kuka_kr6_support/launch/load_kr6r700sixx.launch
index f579cdd36..af7bd6f78 100644
--- a/kuka_kr6_support/launch/load_kr6r700sixx.launch
+++ b/kuka_kr6_support/launch/load_kr6r700sixx.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr6_support)/urdf/kr6r700sixx.xacro'"/>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr6_support)/urdf/kr6r700sixx.xacro'"/>
 </launch>
diff --git a/kuka_kr6_support/launch/load_kr6r900sixx.launch b/kuka_kr6_support/launch/load_kr6r900sixx.launch
index 7c276c7dc..354cb4c9f 100644
--- a/kuka_kr6_support/launch/load_kr6r900sixx.launch
+++ b/kuka_kr6_support/launch/load_kr6r900sixx.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr6_support)/urdf/kr6r900sixx.xacro'"/>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr6_support)/urdf/kr6r900sixx.xacro'"/>
 </launch>
diff --git a/kuka_lbr_iiwa_support/launch/load_lbr_iiwa_14_r820.launch b/kuka_lbr_iiwa_support/launch/load_lbr_iiwa_14_r820.launch
index 7e3a2821b..fc43a8e6d 100644
--- a/kuka_lbr_iiwa_support/launch/load_lbr_iiwa_14_r820.launch
+++ b/kuka_lbr_iiwa_support/launch/load_lbr_iiwa_14_r820.launch
@@ -1,3 +1,3 @@
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_lbr_iiwa_support)/urdf/lbr_iiwa_14_r820.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_lbr_iiwa_support)/urdf/lbr_iiwa_14_r820.xacro'" />
 </launch>
diff --git a/kuka_rsi_hw_interface/krl/KR_C2/README.md b/kuka_rsi_hw_interface/krl/KR_C2/README.md
index d1af3596c..605f88e10 100644
--- a/kuka_rsi_hw_interface/krl/KR_C2/README.md
+++ b/kuka_rsi_hw_interface/krl/KR_C2/README.md
@@ -52,7 +52,7 @@ We recommend that you copy the configuration files, edit the copies for your nee
 In order to successfully launch the **kuka_rsi_hardware_interface** a parameter `robot_description` needs to be present on the ROS parameter server. This parameter can be set manually or by adding this line inside the launch file (replace support package and `.xacro` to match your application):
 
 ```
-<param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr6_support)/urdf/kr6r900sixx.xacro'"/>
+<param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr6_support)/urdf/kr6r900sixx.xacro'"/>
 ```
 
 Make sure that the line is added before the `kuka_hardware_interface` itself is loaded.
diff --git a/kuka_rsi_hw_interface/krl/KR_C4/README.md b/kuka_rsi_hw_interface/krl/KR_C4/README.md
index 206454eb4..0aba235f8 100644
--- a/kuka_rsi_hw_interface/krl/KR_C4/README.md
+++ b/kuka_rsi_hw_interface/krl/KR_C4/README.md
@@ -70,7 +70,7 @@ We recommend that you copy the configuration files, edit the copies for your nee
 In order to successfully launch the **kuka_rsi_hardware_interface** a parameter `robot_description` needs to be present on the ROS parameter server. This parameter can be set manually or by adding this line inside the launch file (replace support package and .xacro to match your application):
 
 ```
-<param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr6_support)/urdf/kr6r900sixx.xacro'"/>
+<param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr6_support)/urdf/kr6r900sixx.xacro'"/>
 ```
 
 Make sure that the line is added before the `kuka_hardware_interface` itself is loaded.
diff --git a/kuka_rsi_hw_interface/test/test_two_robots.launch b/kuka_rsi_hw_interface/test/test_two_robots.launch
index ee5b82a11..7ccdf5840 100644
--- a/kuka_rsi_hw_interface/test/test_two_robots.launch
+++ b/kuka_rsi_hw_interface/test/test_two_robots.launch
@@ -2,7 +2,7 @@
 <launch>
 
   <group ns="ag1">
-    <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_agilus_support)/urdf/agilus.xacro'"/>
+    <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_agilus_support)/urdf/agilus.xacro'"/>
     <!-- Load RSI parameters -->
     <rosparam file="$(find kuka_rsi_hw_interface)/test/ag1_params.yaml" command="load" />
     <!-- Start node -->
@@ -22,7 +22,7 @@
     </group>
 
   <group ns="ag2">
-    <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_agilus_support)/urdf/agilus.xacro'"/>
+    <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_agilus_support)/urdf/agilus.xacro'"/>
     <!-- Load RSI parameters -->
     <rosparam file="$(find kuka_rsi_hw_interface)/test/ag2_params.yaml" command="load" />
     <!-- Start node -->