Multi-Vehicle Simulation Error

[hxdnshx]

Describe the bug
I executed "roslaunch px4 multi_uav_mavros_sitl.launch", and got following error:

while processing /home/user/Firmware/launch/single_vehicle_spawn.launch:
Invalid tag: xacro
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/opt/ros/kinetic/share
ROS path [2]=/home/user/Firmware
ROS path [3]=/home/user/Firmware/Tools/sitl_gazebo
ROS path [4]=/home/user/Firmware
ROS path [5]=/home/user/Firmware/Tools/sitl_gazebo.

Arg xml is <arg default="$(find xacro)/xacro $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) --inorder" name="cmd"/>
The traceback for the exception was written to the log file

To Reproduce
Steps to reproduce the behavior:

1. Luanch a px4 docker container

docker run -it --privileged -p 14562:14556/udp --name=mycontainer px4io/px4-dev-ros:lat
est bash

2. Clone px4 firmware

git clone --recursive https://github.com/PX4/Firmware.git

3. Build,Source and launch(From documention)

cd Firmware/
make posix_sitl_default
make posix_sitl_default sitl_gazebo
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/posix_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd):$(pwd)/Tools/sitl_gazebo
roslaunch px4 multi_uav_mavros_sitl.launch

[lamping7]

Whats the output of rospack find xacro in your container?

[hxdnshx]

Thanks for your consideration. Everything works well after i installed package ros-kinetic-xacro.
So i created a pull-request to the project PX4/container.

[lamping7]

Perfect. That was my guess.