diff --git a/ur_description/launch/ur10_upload.launch b/ur_description/launch/ur10_upload.launch
index fbfdaaa6bbdee902432f2adac4300004fbd9129e..a96ee70c2a7e1757a2ccbb758e8c01cf5d8354fe 100644
--- a/ur_description/launch/ur10_upload.launch
+++ b/ur_description/launch/ur10_upload.launch
@@ -2,6 +2,6 @@
 <launch>
   <arg name="limited" default="false"/>
   
-  <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
-  <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />
+  <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
+  <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />
 </launch>
diff --git a/ur_description/launch/ur3_upload.launch b/ur_description/launch/ur3_upload.launch
index bfbdfd62acbe98ed3421f7389c249595d7d46038..eb047587b3b77b77ec746f7aa3e0eb2796e0e5f4 100644
--- a/ur_description/launch/ur3_upload.launch
+++ b/ur_description/launch/ur3_upload.launch
@@ -2,6 +2,6 @@
 <launch>
   <arg name="limited" default="false"/>
   
-  <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur3_robot.urdf.xacro'" />
-  <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro'" />
+  <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_robot.urdf.xacro'" />
+  <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro'" />
 </launch>
diff --git a/ur_description/launch/ur5_upload.launch b/ur_description/launch/ur5_upload.launch
index 10899213069da7398294e9f9c6eb4361bf386942..79f3310d45cc6339cc3ab59c5c5d633a7aba4088 100644
--- a/ur_description/launch/ur5_upload.launch
+++ b/ur_description/launch/ur5_upload.launch
@@ -2,6 +2,6 @@
 <launch>
   <arg name="limited" default="false"/>
   
-  <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
-  <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />
+  <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
+  <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />
 </launch>