Update xacro and use upstream xacro Bazel rule

[mering]

TODO error:

Traceback (most recent call last):
  File "HOME/.cache/bazel/_bazel_USER/20b68613c9f8625c17233ca1da189885/sandbox/linux-sandbox/7343/execroot/_main/bazel-out/k8-opt-exec-ST-d57f47055a04/bin/external/xacro+/xacro_main.runfiles/xacro+/xacro/__init__.py", line 1027, in parse
    inp = f = open(os.path.join(root_dir, filename))
FileNotFoundError: [Errno 2] No such file or directory: 'bazel-out/k8-fastbuild/bin//TMP_XACRO/test_with_params/ros2/test/xacro/test_with_params.urdf.xacro

Upstream issue: ros/xacro#361

Requires: ros/xacro#360