Deprecated: xacro tag 'cylinder_inertial_matrix' w/o 'xacro:' xml namespace prefix (will be forbidden in Noetic)
when processing file: /home/chuanmei/ros_basic/src/marm_description/urdf/marm.xacro
Use the following command to fix incorrect tag usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'

解决办法

1.排除.xacro文件里有中文

2.排除宏定义前面都要加上xacro前缀

3.按提示执行批量替换    问题依旧，貌似误报，文件能正常导入

 到urdf目录执行  

sudo find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'