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In my case, I had also the following warning:

inconsistent namespace redefinitions for xmlns:xacro:
old: http://www.ros.org/wiki/xacro
new: http://ros.org/wiki/xacro (/home/andreu/dev/ros_ws/src/ensenso_nx/urdf/ensenso_n35.urdf.xacro)

the warning disappeared by setting the url in the top of the xacro file (robot tag) to: "http://www.ros.org/wiki/xacro" instead of just "http://ros.org/wiki/xacro"

Don't ask me why...