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I believe the issue is that your macros.xacro file doesn't have a <robot> tag as the root element. So something like

<robot name="mybot_macros" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:macro name="box_inertia" params="m x y z">
    <inertia  ixx="${m*(y*y+z*z)/12}" ixy="0" ixz="0"
              iyy="${m*(x*x+z*z)/12}" iyz="0"
              izz="${m*(x*x+z*z)/12}"/>
  </xacro:macro>
</robot>

should fix the issue.