use xacro.load_yaml in favor of deprecated version (UniversalRobots#43)

Co-authored-by: aditya <[email protected]>

Author: aditya2592

urdf/inc/ur_common.xacro

@@ -45,10 +45,10 @@
 
     <xacro:property name="force_abs_paths" value="${force_abs_paths}" scope="parent"/>
     <!-- Read .yaml files from disk, load content into properties -->
-    <xacro:property name="config_joint_limit_parameters" value="${load_yaml(joint_limits_parameters_file)}"/>
-    <xacro:property name="config_kinematics_parameters" value="${load_yaml(kinematics_parameters_file)}"/>
-    <xacro:property name="config_physical_parameters" value="${load_yaml(physical_parameters_file)}"/>
-    <xacro:property name="config_visual_parameters" value="${load_yaml(visual_parameters_file)}"/>
+    <xacro:property name="config_joint_limit_parameters" value="${xacro.load_yaml(joint_limits_parameters_file)}"/>
+    <xacro:property name="config_kinematics_parameters" value="${xacro.load_yaml(kinematics_parameters_file)}"/>
+    <xacro:property name="config_physical_parameters" value="${xacro.load_yaml(physical_parameters_file)}"/>
+    <xacro:property name="config_visual_parameters" value="${xacro.load_yaml(visual_parameters_file)}"/>
 
     <!-- Extract subsections from yaml dictionaries -->
     <xacro:property name="sec_limits" value="${config_joint_limit_parameters['joint_limits']}"/>

urdf/ur.urdf.xacro

@@ -70,7 +70,7 @@
      sim_gazebo="$(arg sim_gazebo)"
      sim_ignition="$(arg sim_ignition)"
      headless_mode="$(arg headless_mode)"
-     initial_positions="${load_yaml(initial_positions_file)}"
+     initial_positions="${xacro.load_yaml(initial_positions_file)}"
      use_tool_communication="$(arg use_tool_communication)"
      tool_voltage="$(arg tool_voltage)"
      tool_parity="$(arg tool_parity)"