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This error: Spawn status: Entity [rrr_arm] already exists. seems to indicate there already is a model called rrr_arm in the world when the spawner node calls the spawn service. Are you loading a custom Gazebo world file? If so, that means you saved the world file with the robot already spawned. Either edit the world file manually in a text editor to remove it, or load the world, delete the robot, then save it again.