diff --git a/franka_description/robots/dual_panda_example.urdf.xacro b/franka_description/robots/dual_panda_example.urdf.xacro
index f98c133bf..a3013f960 100644
--- a/franka_description/robots/dual_panda_example.urdf.xacro
+++ b/franka_description/robots/dual_panda_example.urdf.xacro
@@ -27,10 +27,10 @@
-
+
-
+
diff --git a/franka_description/robots/hand.urdf.xacro b/franka_description/robots/hand.urdf.xacro
index a50b18ce2..aa5c1cfb6 100644
--- a/franka_description/robots/hand.urdf.xacro
+++ b/franka_description/robots/hand.urdf.xacro
@@ -1,5 +1,5 @@
-
+
diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro
index ac6213a8b..622e8d2dd 100644
--- a/franka_description/robots/hand.xacro
+++ b/franka_description/robots/hand.xacro
@@ -1,15 +1,20 @@
-
+
+
+ ${xacro.warning("xacro:hand: argument ns is deprecated. Use prefix instead.")}
+
+
+
-
+
-
+
-
+
@@ -53,20 +58,20 @@
-
-
+
+
-
-
+
+
-
+
-
+
@@ -74,20 +79,20 @@
-
-
-
+
+
+
-
-
-
+
+
+
-
+
diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro
index 0b607f9cf..9e3ee03ed 100644
--- a/franka_description/robots/panda_arm.urdf.xacro
+++ b/franka_description/robots/panda_arm.urdf.xacro
@@ -15,7 +15,7 @@
-
+
@@ -31,7 +31,7 @@
-
+
diff --git a/franka_description/robots/panda_gazebo.xacro b/franka_description/robots/panda_gazebo.xacro
index 31b81bb6f..afb013a9b 100644
--- a/franka_description/robots/panda_gazebo.xacro
+++ b/franka_description/robots/panda_gazebo.xacro
@@ -270,18 +270,23 @@
-
+
+
+ ${xacro.warning("xacro:hand: argument ns is deprecated. Use prefix instead.")}
+
+
+
-
+
-
+
-
+
@@ -332,7 +337,7 @@
-
+
@@ -342,7 +347,7 @@
-
+
@@ -355,21 +360,21 @@
-
-
+
+
-
-
-
+
+
+
-
-
-
+
+
+