Unicode strings with encoding declaration are not supported.

[dvogureckiy99]

I use :

• ubuntu 20.04
• ros 2 humble

Error appeared after command ros2 run gazebo_ros spawn_entity.py -entity solo12dof_quadruped -file ~/git/robot_programming_course/catkin_ws/src/solo12dof_quadruped/urdf/solo12dof_quadruped.urdf -x 0 -y 0 -z 1:

[INFO] [1680612612.664726268] [spawn_entity]: Spawn Entity started
[INFO] [1680612612.665737877] [spawn_entity]: Loading entity XML from file /home/dvogureckiy99/git/robot_programming_course/catkin_ws/src/solo12dof_quadruped/urdf/solo12dof_quadruped.urdf
Traceback (most recent call last):
  File "/home/dvogureckiy99/gazebo_ros_pkgs_ws/install/gazebo_ros/lib/gazebo_ros/spawn_entity.py", line 370, in <module>
    main()
  File "/home/dvogureckiy99/gazebo_ros_pkgs_ws/install/gazebo_ros/lib/gazebo_ros/spawn_entity.py", line 365, in main
    exit_code = spawn_entity_node.run()
  File "/home/dvogureckiy99/gazebo_ros_pkgs_ws/install/gazebo_ros/lib/gazebo_ros/spawn_entity.py", line 192, in run
    xml_parsed = ElementTree.fromstring(entity_xml)
  File "src/lxml/etree.pyx", line 3235, in lxml.etree.fromstring
  File "src/lxml/parser.pxi", line 1871, in lxml.etree._parseMemoryDocument
ValueError: Unicode strings with encoding declaration are not supported. Please use bytes input or XML fragments without declaration.
[ros2run]: Process exited with failure 1

[dvogureckiy99]

Thanks to chatgpt I solve this problem by adding on line 192 file's ~/gazebo_ros_pkgs_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_entity.py:
entity_xml_bytes = entity_xml.encode('utf-8')