I am attempting to load a urdf.xacro as a robotdescription into moveitcommander.RobotCommander (using python i/f for MoveIt currenetly). I believe this is a known good urdf.xacro file, as I have used it in other launch files for RViz+MoveIt with no issues.

However, I am getting the error: "Robot Parameter not found! Did you remap 'text string that contains the entire URDF file'

I should add I know the urdf is getting found, as if i do a print(robot_description) in my python script, i get the entire file output.

more searching found solution here: https://answers.ros.org/question/339604/specifying-ur5-robot_description-in-moveit_commanderrobotcommander-initialization/

ROS Melodic on Ubuntu