ROS lacks xacro package

An error is as follows

CMake Error at CMakeLists.txt:27 (find_package):
By not providing “Findxacro.cmake” in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by “xacro”, but
CMake did not find one.
Could not find a package configuration file provided by “xacro” with any of
the following names:
xacroConfig.cmake
xacro-config.cmake
Add the installation prefix of “xacro” to CMAKE_PREFIX_PATH or set
“xacro_DIR” to a directory containing one of the above files. If “xacro”
provides a separate development package or SDK, be sure it has been
installed.

Install as follows

sudo apt install ros-foxy-xacro

The corresponding version is replaced by itself