diff --git a/fanuc_cr35ia_support/launch/load_cr35ia.launch b/fanuc_cr35ia_support/launch/load_cr35ia.launch
index 8e9f9a6f..a118cba7 100644
--- a/fanuc_cr35ia_support/launch/load_cr35ia.launch
+++ b/fanuc_cr35ia_support/launch/load_cr35ia.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_cr35ia_support)/urdf/cr35ia.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_cr35ia_support)/urdf/cr35ia.xacro'" />
 </launch>
diff --git a/fanuc_cr7ia_support/launch/load_cr7ia.launch b/fanuc_cr7ia_support/launch/load_cr7ia.launch
index 9d27558d..44807c4f 100644
--- a/fanuc_cr7ia_support/launch/load_cr7ia.launch
+++ b/fanuc_cr7ia_support/launch/load_cr7ia.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_cr7ia_support)/urdf/cr7ia.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_cr7ia_support)/urdf/cr7ia.xacro'" />
 </launch>
diff --git a/fanuc_cr7ia_support/launch/load_cr7ial.launch b/fanuc_cr7ia_support/launch/load_cr7ial.launch
index 0bcc821a..67b83bd1 100644
--- a/fanuc_cr7ia_support/launch/load_cr7ial.launch
+++ b/fanuc_cr7ia_support/launch/load_cr7ial.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_cr7ia_support)/urdf/cr7ial.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_cr7ia_support)/urdf/cr7ial.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200i_support/launch/load_lrmate200i.launch b/fanuc_lrmate200i_support/launch/load_lrmate200i.launch
index c8126dda..925a30e8 100644
--- a/fanuc_lrmate200i_support/launch/load_lrmate200i.launch
+++ b/fanuc_lrmate200i_support/launch/load_lrmate200i.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200i_support)/urdf/lrmate200i.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200i_support)/urdf/lrmate200i.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200ib_support/launch/load_lrmate200ib.launch b/fanuc_lrmate200ib_support/launch/load_lrmate200ib.launch
index d6281962..fca37516 100644
--- a/fanuc_lrmate200ib_support/launch/load_lrmate200ib.launch
+++ b/fanuc_lrmate200ib_support/launch/load_lrmate200ib.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200ib_support)/urdf/lrmate200ib.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200ib_support)/urdf/lrmate200ib.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200ib_support/launch/load_lrmate200ib3l.launch b/fanuc_lrmate200ib_support/launch/load_lrmate200ib3l.launch
index a04a3318..271b4d81 100644
--- a/fanuc_lrmate200ib_support/launch/load_lrmate200ib3l.launch
+++ b/fanuc_lrmate200ib_support/launch/load_lrmate200ib3l.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200ib_support)/urdf/lrmate200ib3l.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200ib_support)/urdf/lrmate200ib3l.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200ic_support/launch/load_lrmate200ic.launch b/fanuc_lrmate200ic_support/launch/load_lrmate200ic.launch
index bf44126c..8cfd4603 100644
--- a/fanuc_lrmate200ic_support/launch/load_lrmate200ic.launch
+++ b/fanuc_lrmate200ic_support/launch/load_lrmate200ic.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200ic_support/launch/load_lrmate200ic5f.launch b/fanuc_lrmate200ic_support/launch/load_lrmate200ic5f.launch
index 5cbe1f1d..cef56908 100644
--- a/fanuc_lrmate200ic_support/launch/load_lrmate200ic5f.launch
+++ b/fanuc_lrmate200ic_support/launch/load_lrmate200ic5f.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5f.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5f.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200ic_support/launch/load_lrmate200ic5h.launch b/fanuc_lrmate200ic_support/launch/load_lrmate200ic5h.launch
index 6e209382..646f4e2e 100644
--- a/fanuc_lrmate200ic_support/launch/load_lrmate200ic5h.launch
+++ b/fanuc_lrmate200ic_support/launch/load_lrmate200ic5h.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5h.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5h.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200ic_support/launch/load_lrmate200ic5hs.launch b/fanuc_lrmate200ic_support/launch/load_lrmate200ic5hs.launch
index 6c022598..136106fa 100644
--- a/fanuc_lrmate200ic_support/launch/load_lrmate200ic5hs.launch
+++ b/fanuc_lrmate200ic_support/launch/load_lrmate200ic5hs.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5hs.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5hs.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200ic_support/launch/load_lrmate200ic5l.launch b/fanuc_lrmate200ic_support/launch/load_lrmate200ic5l.launch
index c84c8dc0..1edb9a53 100644
--- a/fanuc_lrmate200ic_support/launch/load_lrmate200ic5l.launch
+++ b/fanuc_lrmate200ic_support/launch/load_lrmate200ic5l.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5l.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5l.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200id_support/launch/load_lrmate200id.launch b/fanuc_lrmate200id_support/launch/load_lrmate200id.launch
index 2d383749..b6b79b39 100644
--- a/fanuc_lrmate200id_support/launch/load_lrmate200id.launch
+++ b/fanuc_lrmate200id_support/launch/load_lrmate200id.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200id_support)/urdf/lrmate200id.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200id_support)/urdf/lrmate200id.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200id_support/launch/load_lrmate200id4s.launch b/fanuc_lrmate200id_support/launch/load_lrmate200id4s.launch
index 673dbe6f..3de383e1 100644
--- a/fanuc_lrmate200id_support/launch/load_lrmate200id4s.launch
+++ b/fanuc_lrmate200id_support/launch/load_lrmate200id4s.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200id_support)/urdf/lrmate200id4s.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200id_support)/urdf/lrmate200id4s.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200id_support/launch/load_lrmate200id4sc.launch b/fanuc_lrmate200id_support/launch/load_lrmate200id4sc.launch
index 691a6c5e..58d4af44 100644
--- a/fanuc_lrmate200id_support/launch/load_lrmate200id4sc.launch
+++ b/fanuc_lrmate200id_support/launch/load_lrmate200id4sc.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200id_support)/urdf/lrmate200id4sc.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200id_support)/urdf/lrmate200id4sc.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200id_support/launch/load_lrmate200id4sh.launch b/fanuc_lrmate200id_support/launch/load_lrmate200id4sh.launch
index 6e3e3dd4..4af8138e 100644
--- a/fanuc_lrmate200id_support/launch/load_lrmate200id4sh.launch
+++ b/fanuc_lrmate200id_support/launch/load_lrmate200id4sh.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200id_support)/urdf/lrmate200id4sh.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200id_support)/urdf/lrmate200id4sh.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200id_support/launch/load_lrmate200id7h.launch b/fanuc_lrmate200id_support/launch/load_lrmate200id7h.launch
index 8098a757..aa958689 100644
--- a/fanuc_lrmate200id_support/launch/load_lrmate200id7h.launch
+++ b/fanuc_lrmate200id_support/launch/load_lrmate200id7h.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200id_support)/urdf/lrmate200id7h.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200id_support)/urdf/lrmate200id7h.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200id_support/launch/load_lrmate200id7l.launch b/fanuc_lrmate200id_support/launch/load_lrmate200id7l.launch
index 6b93ad74..e8683f85 100644
--- a/fanuc_lrmate200id_support/launch/load_lrmate200id7l.launch
+++ b/fanuc_lrmate200id_support/launch/load_lrmate200id7l.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200id_support)/urdf/lrmate200id7l.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200id_support)/urdf/lrmate200id7l.xacro'" />
 </launch>
diff --git a/fanuc_lrmate200id_support/launch/load_lrmate200id7lc.launch b/fanuc_lrmate200id_support/launch/load_lrmate200id7lc.launch
index 3ffbcdc0..253f35ca 100644
--- a/fanuc_lrmate200id_support/launch/load_lrmate200id7lc.launch
+++ b/fanuc_lrmate200id_support/launch/load_lrmate200id7lc.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200id_support)/urdf/lrmate200id7lc.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_lrmate200id_support)/urdf/lrmate200id7lc.xacro'" />
 </launch>
diff --git a/fanuc_m10ia_support/launch/load_m10ia.launch b/fanuc_m10ia_support/launch/load_m10ia.launch
index e03007da..6d002d6f 100644
--- a/fanuc_m10ia_support/launch/load_m10ia.launch
+++ b/fanuc_m10ia_support/launch/load_m10ia.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m10ia_support)/urdf/m10ia.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m10ia_support)/urdf/m10ia.xacro'" />
 </launch>
diff --git a/fanuc_m10ia_support/launch/load_m10ia7l.launch b/fanuc_m10ia_support/launch/load_m10ia7l.launch
index a7dfa40f..bc8d0699 100644
--- a/fanuc_m10ia_support/launch/load_m10ia7l.launch
+++ b/fanuc_m10ia_support/launch/load_m10ia7l.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m10ia_support)/urdf/m10ia7l.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m10ia_support)/urdf/m10ia7l.xacro'" />
 </launch>
diff --git a/fanuc_m16ib_support/launch/load_m16ib20.launch b/fanuc_m16ib_support/launch/load_m16ib20.launch
index 88215fb3..069389e6 100644
--- a/fanuc_m16ib_support/launch/load_m16ib20.launch
+++ b/fanuc_m16ib_support/launch/load_m16ib20.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m16ib_support)/urdf/m16ib20.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m16ib_support)/urdf/m16ib20.xacro'" />
 </launch>
diff --git a/fanuc_m20ia_support/launch/load_m20ia.launch b/fanuc_m20ia_support/launch/load_m20ia.launch
index b5c41766..d158b295 100644
--- a/fanuc_m20ia_support/launch/load_m20ia.launch
+++ b/fanuc_m20ia_support/launch/load_m20ia.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m20ia_support)/urdf/m20ia.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m20ia_support)/urdf/m20ia.xacro'" />
 </launch>
diff --git a/fanuc_m20ia_support/launch/load_m20ia10l.launch b/fanuc_m20ia_support/launch/load_m20ia10l.launch
index 2b050281..75ba1942 100644
--- a/fanuc_m20ia_support/launch/load_m20ia10l.launch
+++ b/fanuc_m20ia_support/launch/load_m20ia10l.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m20ia_support)/urdf/m20ia10l.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m20ia_support)/urdf/m20ia10l.xacro'" />
 </launch>
diff --git a/fanuc_m20ib_support/launch/load_m20ib25.launch b/fanuc_m20ib_support/launch/load_m20ib25.launch
index dbf50805..dc0f3725 100644
--- a/fanuc_m20ib_support/launch/load_m20ib25.launch
+++ b/fanuc_m20ib_support/launch/load_m20ib25.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m20ib_support)/urdf/m20ib25.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m20ib_support)/urdf/m20ib25.xacro'" />
 </launch>
diff --git a/fanuc_m430ia_support/launch/load_m430ia2f.launch b/fanuc_m430ia_support/launch/load_m430ia2f.launch
index 5d09deb4..2ebd47e0 100644
--- a/fanuc_m430ia_support/launch/load_m430ia2f.launch
+++ b/fanuc_m430ia_support/launch/load_m430ia2f.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m430ia_support)/urdf/m430ia2f.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m430ia_support)/urdf/m430ia2f.xacro'" />
 </launch>
diff --git a/fanuc_m430ia_support/launch/load_m430ia2p.launch b/fanuc_m430ia_support/launch/load_m430ia2p.launch
index 1f819363..888287bf 100644
--- a/fanuc_m430ia_support/launch/load_m430ia2p.launch
+++ b/fanuc_m430ia_support/launch/load_m430ia2p.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m430ia_support)/urdf/m430ia2p.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m430ia_support)/urdf/m430ia2p.xacro'" />
 </launch>
diff --git a/fanuc_m6ib_support/launch/load_m6ib.launch b/fanuc_m6ib_support/launch/load_m6ib.launch
index 1c4560fa..d7024268 100644
--- a/fanuc_m6ib_support/launch/load_m6ib.launch
+++ b/fanuc_m6ib_support/launch/load_m6ib.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m6ib_support)/urdf/m6ib.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m6ib_support)/urdf/m6ib.xacro'" />
 </launch>
diff --git a/fanuc_m6ib_support/launch/load_m6ib6s.launch b/fanuc_m6ib_support/launch/load_m6ib6s.launch
index 4a9a547d..533ba665 100644
--- a/fanuc_m6ib_support/launch/load_m6ib6s.launch
+++ b/fanuc_m6ib_support/launch/load_m6ib6s.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m6ib_support)/urdf/m6ib6s.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m6ib_support)/urdf/m6ib6s.xacro'" />
 </launch>
diff --git a/fanuc_m710ic_support/launch/load_m710ic45m.launch b/fanuc_m710ic_support/launch/load_m710ic45m.launch
index 86404042..fe7c1b30 100644
--- a/fanuc_m710ic_support/launch/load_m710ic45m.launch
+++ b/fanuc_m710ic_support/launch/load_m710ic45m.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m710ic_support)/urdf/m710ic45m.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m710ic_support)/urdf/m710ic45m.xacro'" />
 </launch>
diff --git a/fanuc_m710ic_support/launch/load_m710ic50.launch b/fanuc_m710ic_support/launch/load_m710ic50.launch
index 65083951..c4217ab9 100644
--- a/fanuc_m710ic_support/launch/load_m710ic50.launch
+++ b/fanuc_m710ic_support/launch/load_m710ic50.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m710ic_support)/urdf/m710ic50.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m710ic_support)/urdf/m710ic50.xacro'" />
 </launch>
diff --git a/fanuc_m900ia_support/launch/load_m900ia260l.launch b/fanuc_m900ia_support/launch/load_m900ia260l.launch
index f410546a..2e0d4d35 100644
--- a/fanuc_m900ia_support/launch/load_m900ia260l.launch
+++ b/fanuc_m900ia_support/launch/load_m900ia260l.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m900ia_support)/urdf/m900ia260l.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m900ia_support)/urdf/m900ia260l.xacro'" />
 </launch>
diff --git a/fanuc_m900ib_support/launch/load_m900ib700.launch b/fanuc_m900ib_support/launch/load_m900ib700.launch
index 76d38e07..7f713a1a 100644
--- a/fanuc_m900ib_support/launch/load_m900ib700.launch
+++ b/fanuc_m900ib_support/launch/load_m900ib700.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m900ib_support)/urdf/m900ib700.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m900ib_support)/urdf/m900ib700.xacro'" />
 </launch>
diff --git a/fanuc_r1000ia_support/launch/load_r1000ia80f.launch b/fanuc_r1000ia_support/launch/load_r1000ia80f.launch
index 0b9792bb..134865ba 100644
--- a/fanuc_r1000ia_support/launch/load_r1000ia80f.launch
+++ b/fanuc_r1000ia_support/launch/load_r1000ia80f.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_r1000ia_support)/urdf/r1000ia80f.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_r1000ia_support)/urdf/r1000ia80f.xacro'" />
 </launch>
diff --git a/moveit_cfgs/fanuc_cr7ia_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_cr7ia_moveit_config/launch/planning_context.launch
index e92b9575..0c7fdd94 100644
--- a/moveit_cfgs/fanuc_cr7ia_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_cr7ia_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_cr7ia_support)/urdf/cr7ia.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_cr7ia_support)/urdf/cr7ia.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_cr7ia_moveit_config)/config/fanuc_cr7ia.srdf" />
diff --git a/moveit_cfgs/fanuc_cr7ial_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_cr7ial_moveit_config/launch/planning_context.launch
index d869acc9..bee73c2c 100644
--- a/moveit_cfgs/fanuc_cr7ial_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_cr7ial_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_cr7ia_support)/urdf/cr7ial.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_cr7ia_support)/urdf/cr7ial.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_cr7ial_moveit_config)/config/fanuc_cr7ial.srdf" />
diff --git a/moveit_cfgs/fanuc_lrmate200i_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_lrmate200i_moveit_config/launch/planning_context.launch
index e044c656..b0b52b73 100644
--- a/moveit_cfgs/fanuc_lrmate200i_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_lrmate200i_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200i_support)/urdf/lrmate200i.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_lrmate200i_support)/urdf/lrmate200i.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_lrmate200i_moveit_config)/config/fanuc_lrmate200i.srdf" />
diff --git a/moveit_cfgs/fanuc_lrmate200ib3l_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_lrmate200ib3l_moveit_config/launch/planning_context.launch
index 888a50d3..1bdb5a08 100644
--- a/moveit_cfgs/fanuc_lrmate200ib3l_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_lrmate200ib3l_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200ib_support)/urdf/lrmate200ib3l.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_lrmate200ib_support)/urdf/lrmate200ib3l.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_lrmate200ib3l_moveit_config)/config/fanuc_lrmate200ib3l.srdf" />
diff --git a/moveit_cfgs/fanuc_lrmate200ib_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_lrmate200ib_moveit_config/launch/planning_context.launch
index aec2fbdd..1eb1f769 100644
--- a/moveit_cfgs/fanuc_lrmate200ib_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_lrmate200ib_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200ib_support)/urdf/lrmate200ib.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_lrmate200ib_support)/urdf/lrmate200ib.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_lrmate200ib_moveit_config)/config/fanuc_lrmate200ib.srdf" />
diff --git a/moveit_cfgs/fanuc_lrmate200ic5h_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_lrmate200ic5h_moveit_config/launch/planning_context.launch
index 0b3fb9f9..1a4b742e 100644
--- a/moveit_cfgs/fanuc_lrmate200ic5h_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_lrmate200ic5h_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5h.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5h.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_lrmate200ic5h_moveit_config)/config/fanuc_lrmate200ic5h.srdf" />
diff --git a/moveit_cfgs/fanuc_lrmate200ic5l_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_lrmate200ic5l_moveit_config/launch/planning_context.launch
index 3dfeb309..ef8d2c1a 100644
--- a/moveit_cfgs/fanuc_lrmate200ic5l_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_lrmate200ic5l_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5l.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5l.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_lrmate200ic5l_moveit_config)/config/fanuc_lrmate200ic5l.srdf" />
diff --git a/moveit_cfgs/fanuc_lrmate200ic_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_lrmate200ic_moveit_config/launch/planning_context.launch
index 734d020e..611bb87e 100644
--- a/moveit_cfgs/fanuc_lrmate200ic_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_lrmate200ic_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_lrmate200ic_moveit_config)/config/fanuc_lrmate200ic.srdf" />
diff --git a/moveit_cfgs/fanuc_lrmate200id7l_moveit_config/.setup_assistant b/moveit_cfgs/fanuc_lrmate200id7l_moveit_config/.setup_assistant
index 358a8eb6..c779c208 100644
--- a/moveit_cfgs/fanuc_lrmate200id7l_moveit_config/.setup_assistant
+++ b/moveit_cfgs/fanuc_lrmate200id7l_moveit_config/.setup_assistant
@@ -2,7 +2,7 @@ moveit_setup_assistant_config:
   URDF:
     package: fanuc_lrmate200id_support
     relative_path: urdf/lrmate200id7l.xacro
-    xacro_args: "--inorder "
+    xacro_args: ""
   SRDF:
     relative_path: config/fanuc_lrmate200id7l.srdf
   CONFIG:
diff --git a/moveit_cfgs/fanuc_lrmate200id7l_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_lrmate200id7l_moveit_config/launch/planning_context.launch
index cc6768eb..6b06f5a7 100644
--- a/moveit_cfgs/fanuc_lrmate200id7l_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_lrmate200id7l_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro --inorder  '$(find fanuc_lrmate200id_support)/urdf/lrmate200id7l.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '$(find fanuc_lrmate200id_support)/urdf/lrmate200id7l.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_lrmate200id7l_moveit_config)/config/fanuc_lrmate200id7l.srdf" />
diff --git a/moveit_cfgs/fanuc_lrmate200id_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_lrmate200id_moveit_config/launch/planning_context.launch
index 292c1c1e..3ba93688 100644
--- a/moveit_cfgs/fanuc_lrmate200id_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_lrmate200id_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_lrmate200id_support)/urdf/lrmate200id.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_lrmate200id_support)/urdf/lrmate200id.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_lrmate200id_moveit_config)/config/fanuc_lrmate200id.srdf" />
diff --git a/moveit_cfgs/fanuc_m10ia_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_m10ia_moveit_config/launch/planning_context.launch
index c84057fb..cb5ba84b 100644
--- a/moveit_cfgs/fanuc_m10ia_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_m10ia_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_m10ia_support)/urdf/m10ia.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_m10ia_support)/urdf/m10ia.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m10ia_moveit_config)/config/fanuc_m10ia.srdf" />
diff --git a/moveit_cfgs/fanuc_m16ib20_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_m16ib20_moveit_config/launch/planning_context.launch
index e07b1d92..26013466 100644
--- a/moveit_cfgs/fanuc_m16ib20_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_m16ib20_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_m16ib_support)/urdf/m16ib20.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_m16ib_support)/urdf/m16ib20.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m16ib20_moveit_config)/config/fanuc_m16ib20.srdf" />
diff --git a/moveit_cfgs/fanuc_m20ia10l_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_m20ia10l_moveit_config/launch/planning_context.launch
index 18fa2138..5fe2d424 100644
--- a/moveit_cfgs/fanuc_m20ia10l_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_m20ia10l_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_m20ia_support)/urdf/m20ia10l.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_m20ia_support)/urdf/m20ia10l.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m20ia10l_moveit_config)/config/fanuc_m20ia10l.srdf" />
diff --git a/moveit_cfgs/fanuc_m20ia_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_m20ia_moveit_config/launch/planning_context.launch
index 7e4ccd25..3d7ccb88 100644
--- a/moveit_cfgs/fanuc_m20ia_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_m20ia_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_m20ia_support)/urdf/m20ia.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_m20ia_support)/urdf/m20ia.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m20ia_moveit_config)/config/fanuc_m20ia.srdf" />
diff --git a/moveit_cfgs/fanuc_m20ib25_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_m20ib25_moveit_config/launch/planning_context.launch
index c934d3a6..da9e62be 100644
--- a/moveit_cfgs/fanuc_m20ib25_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_m20ib25_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_m20ib_support)/urdf/m20ib25.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_m20ib_support)/urdf/m20ib25.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m20ib25_moveit_config)/config/fanuc_m20ib25.srdf" />
diff --git a/moveit_cfgs/fanuc_m430ia2f_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_m430ia2f_moveit_config/launch/planning_context.launch
index d5aa2c8d..40f15819 100644
--- a/moveit_cfgs/fanuc_m430ia2f_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_m430ia2f_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_m430ia_support)/urdf/m430ia2f.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_m430ia_support)/urdf/m430ia2f.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m430ia2f_moveit_config)/config/fanuc_m430ia2f.srdf" />
diff --git a/moveit_cfgs/fanuc_m430ia2p_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_m430ia2p_moveit_config/launch/planning_context.launch
index bf2f605f..0802e83a 100644
--- a/moveit_cfgs/fanuc_m430ia2p_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_m430ia2p_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_m430ia_support)/urdf/m430ia2p.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_m430ia_support)/urdf/m430ia2p.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m430ia2p_moveit_config)/config/fanuc_m430ia2p.srdf" />
diff --git a/moveit_cfgs/fanuc_m6ib6s_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_m6ib6s_moveit_config/launch/planning_context.launch
index df697d45..f703368d 100644
--- a/moveit_cfgs/fanuc_m6ib6s_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_m6ib6s_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro --inorder '$(find fanuc_m6ib_support)/urdf/m6ib6s.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find fanuc_m6ib_support)/urdf/m6ib6s.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m6ib6s_moveit_config)/config/fanuc_m6ib6s.srdf" />
diff --git a/moveit_cfgs/fanuc_m6ib_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_m6ib_moveit_config/launch/planning_context.launch
index c5fa24b9..f710df99 100644
--- a/moveit_cfgs/fanuc_m6ib_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_m6ib_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_m6ib_support)/urdf/m6ib.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_m6ib_support)/urdf/m6ib.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m6ib_moveit_config)/config/fanuc_m6ib.srdf" />
diff --git a/moveit_cfgs/fanuc_r1000ia80f_moveit_config/launch/planning_context.launch b/moveit_cfgs/fanuc_r1000ia80f_moveit_config/launch/planning_context.launch
index 779004eb..48bbd450 100644
--- a/moveit_cfgs/fanuc_r1000ia80f_moveit_config/launch/planning_context.launch
+++ b/moveit_cfgs/fanuc_r1000ia80f_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find fanuc_r1000ia_support)/urdf/r1000ia80f.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find fanuc_r1000ia_support)/urdf/r1000ia80f.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_r1000ia80f_moveit_config)/config/fanuc_r1000ia80f.srdf" />