The xacro files don't seem to work with each other. (ubuntu 20.04 noetic) R [closed]

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Hello, everyone!

An error occurred while configuring the robot arm as an xacro file. The current simple model looks like this:

<?xml version="1.0" ?>

<robot name="manipulator" xmlns:xacro="http://www.ros.org/wiki/xacro">

   <!-- Begin include -->
   <xacro:include filename="$(find manipulator_description)/urdf/links_joints.xacro" />
   <!-- END include -->

   <!--Begin robot description -->
   <link_n_box name="base_link"
               origin_rpy="0 0 0" origin_xyz="0 0 0"
               size="1 1 1" />

   <joint name="joint_01" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
    <origin rpy="0 0 0" xyz="0 0 0.5"/>
    <parent link="base_link"/>
    <child link="link_01"/>    
  </joint>  

   <link name="link_01">
         <visual>
           <origin rpy="0 0 0" xyz="0 0 0.2" />
           <geometry>
               <cylinder radius="0.35" length="0.4"/>
           </geometry>
         </visual>
   </link>

  <joint name="joint_02" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
    <origin rpy="0 0 0" xyz="0 0 0.4"/>
    <parent link="link_01"/>
    <child link="link_02"/>    
  </joint>   

   <link name="link_02">
         <visual>
           <origin rpy="0 0 0" xyz="0 0 0.4" />
           <geometry>
               <cylinder radius="0.15" length="0.8"/>
           </geometry>
         </visual>
   </link>   

  <joint name="joint_03" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
    <origin rpy="0 0 0" xyz="0 0 0.8"/>
    <parent link="link_02"/>
    <child link="link_03"/>    
  </joint>   

   <link name="link_03">
         <visual>
           <origin rpy="0 0 0" xyz="0 0 0.4" />
           <geometry>
               <cylinder radius="0.15" length="0.8"/>
           </geometry>
         </visual>
   </link> 

  <joint name="joint_04" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
    <origin rpy="0 0 0" xyz="0 0 0.8"/>
    <parent link="link_03"/>
    <child link="link_04"/>    
  </joint>   

   <link name="link_04">
         <visual>
           <origin rpy="0 0 0" xyz="0 0 0.4" />
           <geometry>
               <cylinder radius="0.15" length="0.8"/>
           </geometry>
         </visual>
   </link>

  <joint name="joint_05" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
    <origin rpy="0 0 0" xyz="0 0 0.8"/>
    <parent link="link_04"/>
    <child link="link_05"/>    
      </joint>

       <link name="link_05">
             <visual>
               <origin rpy="0 0 0" xyz="0 0 0.125" />
               <geometry>
                   <cylinder radius="0.15" length="0.25"/>
               </geometry>
             </visual>
       </link>
       <!--END robot description -->

    </robot>

The macro files to be linked are as follows:

<?xml version="1.0" ?>
<robot name="manipulator" xmlns:xacro="http://www.ros.org/wiki/xacro ...