Error: Could not find the 'robot' element in the xml file at line 109 in ./urdf_parser/src/model.cpp Error: SDF parsing the xml failed

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<sdf version="1.5"> <model name="turtlebot3_burger"> <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>

<link name="base_footprint"/>

<link name="base_link">

  <inertial>
    <pose>-0.032 0 0.070 0 0 0</pose>
    <inertia>
      <ixx>7.2397393e-01</ixx>
      <ixy>4.686399e-10</ixy>
      <ixz>-1.09525703e-08</ixz>
      <iyy>7.2397393e-01</iyy>
      <iyz>2.8582649e-09</iyz>
      <izz>6.53050163e-01</izz>
    </inertia>
    <mass>8.2573504e-01</mass>
  </inertial>

  <collision name="base_collision">
    <pose>-0.032 0 0.070 0 0 0</pose>
    <geometry>
      <box>
        <size>0.140 0.140 0.140</size>
      </box>
    </geometry>
  </collision>

  <visual name="base_visual">
    <pose>-0.032 0 0 0 0 0</pose>
    <geometry>
      <mesh>
        <uri>model://turtlebot3_burger/meshes/burger_base.dae</uri>
        <scale>0.001 0.001 0.001</scale>
      </mesh>
    </geometry>
  </visual>
</link>

<link name="camera_link">
  <inertial>
    <pose>0.04 0 0.1 0 0 0</pose>
    <inertia>
      <ixx>0.001</ixx>
      <ixy>0.000</ixy>
      <ixz>0.000</ixz>
      <iyy>0.001</iyy>
      <iyz>0.000</iyz>
      <izz>0.001</izz>
    </inertia>
    <mass>0.114</mass>
  </inertial>

  <collision name="camera_collision">
    <pose>0.04 0 0.1 0 0 0</pose>
    <geometry>
      <box>
        <size>0.015 0.030 0.027</size>
      </box>
    </geometry>
  </collision>

  <visual name="camera_visual">
    <pose>0.04 0 0.1 0 0 0</pose>
    <geometry>
      <box>
        <size>0.015 0.030 0.027</size>
      </box>
    </geometry>
  </visual>

  <sensor name="camera_sensor" type="camera">
    <update_rate>30.0</update_rate>
    <always_on>1</always_on>
    <camera name="camera">
      <pose>0.04 0 0.1 0 0 0</pose>
      <horizontal_fov>1.3962634</horizontal_fov>
      <image>
        <width>800</width>
        <height>800</height>
        <format>R8G8B8</format>
      </image>
      <clip>
        <near>0.02</near>
        <far>300</far>
      </clip>
      <distortion>
        <k1>0.0</k1>
        <k2>0.0</k2>
        <k3>0.0</k3>
        <p1>0.0</p1>
        <p2>0.0</p2>
        <center>0.5 0.5</center>
      </distortion>
    </camera>
    <plugin filename="libgazebo_ros_camera.so" name="camera_controller">
      <ros>
        <argument>camera_sensor/image_raw:=/camera_sensor/image_raw</argument>
        <argument>camera_sensor/camera_info:=/camera_sensor/camera_info</argument>
      </ros>
      <camera_name>camera_sensor</camera_name>
      <frame_name>base_footprint</frame_name>
      <hack_baseline>0.07</hack_baseline>
    </plugin>
  </sensor>
</link>

<link name="imu_link">
  <sensor name="tb3_imu" type="imu">
    <always_on>true</always_on>
    <update_rate>200</update_rate>
    <imu>
      <angular_velocity>
        <x>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
          </noise>
        </x>
        <y>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
          </noise>
        </y>
        <z>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
          </noise>
        </z>
      </angular_velocity>
      <linear_acceleration>
        <x>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
          </noise>
        </x>
        <y>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
          </noise>
        </y>
        <z>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
          </noise>
        </z>
      </linear_acceleration>
    </imu>
    <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
      <ros>
        <!-- <namespace>/tb3</namespace> -->
        <remapping>~/out:=imu</remapping>
      </ros>
    </plugin>
  </sensor>
</link>

<link name="base_scan">
  <inertial>
    <pose>-0.020 0 0.161 0 0 0</pose>
    <inertia>
      <ixx>0.001</ixx>
      <ixy>0.000</ixy>
      <ixz>0.000</ixz>
      <iyy>0.001</iyy>
      <iyz>0.000</iyz>
      <izz>0.001</izz> ...