执行 roslaunch aubo_i5_moveit_config moveit_planning_execution.launch robot_ip:=127.0.0.1时 报错如下：

RLException: while processing /home/wen/catkin_ws/src/aubo_robot/aubo_i5_moveit_config/launch/planning_context.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: no such command [['xacro', '/home/wen/catkin_ws/src/aubo_robot/aubo_gazebo/urdf/aubo_i5.xacro']]. 
 

解决方法：

在 /aubo_robot/aubo_i5_moveit_config/launch/planning_context.launch 文件中，将

<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro --inorder  '$(find aubo_gazebo)/urdf/aubo_i5.xacro'"/>

改为

<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find aubo_gazebo)/urdf/aubo_i5.xacro'"/>

保存，接着运行

roslaunch aubo_i5_moveit_config moveit_planning_execution.launch robot_ip:=127.0.0.1

出现如下错误：

Resource not found: xacro
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/wen/catkin_ws/src
ROS path [2]=/opt/ros/noetic/share
解决方法：

sudo apt-get install ros-noetic-xacro