diff --git a/kuka_eki_hw_interface/krl/README.md b/kuka_eki_hw_interface/krl/README.md
index 857d73820..d0147789d 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="$(find xacro)/xacro --inorder '$(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..1d6534c85 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="$(find xacro)/xacro --inorder '$(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..1775cabed 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="$(find xacro)/xacro --inorder '$(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..590f6a839 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="$(find xacro)/xacro --inorder '$(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..491592b8f 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="$(find xacro)/xacro --inorder '$(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..b3658fc9c 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="$(find xacro)/xacro --inorder '$(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..c6a958fd2 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="$(find xacro)/xacro --inorder '$(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..eea313200 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="$(find xacro)/xacro --inorder '$(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..b031f7d84 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="$(find xacro)/xacro --inorder '$(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..92e7139f0 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="$(find xacro)/xacro --inorder '$(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="$(find xacro)/xacro --inorder '$(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 -->