diff --git a/robossembler/launch/robossembler_bringup.launch.py b/robossembler/launch/robossembler_bringup.launch.py
index d1b6903..79211e8 100644
--- a/robossembler/launch/robossembler_bringup.launch.py
+++ b/robossembler/launch/robossembler_bringup.launch.py
@@ -42,14 +42,18 @@ def generate_launch_description():
                 )
         )
 
-        # get xacro file path
-        xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro")
-        # get error if xacro file if missing
-        assert os.path.exists(xacro_file), "The xacro file of neptun_description doesnt exist"+str(xacro_file)
-        # parse xacro file from file with arguments
-        robot_description = xacro.process_file(xacro_file, mappings={'grip':"true",'sim':"true",'robot_name':"rasmt"})
-        # convert file to xml format
-        robot_description_content = robot_description.toxml()
+         # Load robot description
+        robot_description_content = Command(
+                [
+                FindExecutable(name="xacro"), " ",
+                PathJoinSubstitution(
+                        [FindPackageShare("rasmt_support"), "urdf/rasmt.xacro"]
+                ), " ",
+                "robot_name:=", LaunchConfiguration("robot_name"), " ",
+                "sim:=", LaunchConfiguration("sim"), " ",
+                "grip:=", LaunchConfiguration("grip")
+                ]
+        )
 
         control = IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(