i wanna run a launch file to open my simulated robot in gazebo and rviz, it worked previously but when i downloaded slamtoolbox and also restarted the cpu, it cannot run anymore. I have checked the xml files and xacro files. Here is the error snippet i obtained:

nvidia@nvidia-desktop:~/devws/src$ ros2 launch mybot launchsim.launch.py [INFO] [launch]: All log files can be found below /home/nvidia/.ros/log/2023-08-08-14-54-17-026684-nvidia-desktop-9771 [INFO] [launch]: Default logging verbosity is set to INFO Task exception was never retrieved future: <Task finished name='Task-2' coro=<LaunchService.processoneevent() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launchservice.py:226> exception=ExpatError('mismatched tag: line 40, column 3')> Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launchservice.py", line 228, in processoneevent await self.processevent(nextevent) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launchservice.py", line 248, in processevent visitallentitiesandcollectfutures(entity, self.context)) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visitallentitiesandcollectfuturesimpl.py", line 45, in visitallentitiesandcollectfutures futurestoreturn += visitallentitiesandcollectfutures(subentity, context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visitallentitiesandcollectfuturesimpl.py", line 45, in visitallentitiesandcollectfutures futurestoreturn += visitallentitiesandcollectfutures(subentity, context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visitallentitiesandcollectfuturesimpl.py", line 45, in visitallentitiesandcollectfutures futurestoreturn += visitallentitiesandcollectfutures(subentity, context) [Previous line repeated 1 more time] File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visitallentitiesandcollectfuturesimpl.py", line 38, in visitallentitiesandcollectfutures subentities = entity.visit(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit return self.execute(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/includelaunchdescription.py", line 130, in execute launchdescription = self.launchdescriptionsource.getlaunchdescription(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launchdescriptionsource.py", line 84, in getlaunchdescription self.getlaunch_description(self.expandedlocation) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launchdescriptionsources/pythonlaunchdescriptionsource.py", line 51, in getlaunchdescription return getlaunchdescriptionfrompythonlaunchfile(location) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launchdescriptionsources/pythonlaunchfileutilities.py", line 68, in getlaunchdescriptionfrompythonlaunchfile return getattr(launchfilemodule, 'generatelaunchdescription')() File "/home/nvidia/devws/src/install/mybot/share/mybot/launch/rsp.launch.py", line 21, in generatelaunchdescription robotdescriptionconfig = xacro.processfile(xacrofile) File "/opt/ros/foxy/lib/python3.8/site-packages/xacro/init.py", line 1074, in processfile processdoc(doc, **kwargs) File "/opt/ros/foxy/lib/python3.8/site-packages/xacro/init.py", line 1025, in processdoc evalall(doc.documentElement, macros, symbols) File "/opt/ros/foxy/lib/python3.8/site-packages/xacro/init.py", line 905, in evalall processinclude(node, macros, symbols, evalall) File "/opt/ros/foxy/lib/python3.8/site-packages/xacro/init.py", line 502, in processinclude include = parse(None, filename).documentElement File "/opt/ros/foxy/lib/python3.8/site-packages/xacro/init_.py", line 994, in parse return xml.dom.minidom.parse(inp) File "/usr/lib/python3.8/xml/dom/minidom.py", line 1959, in parse return expatbuilder.parse(file) File "/usr/lib/python3.8/xml/dom/expatbuilder.py", line 913, in parse result = builder.parseFile(file) File "/usr/lib/python3.8/xml/dom/expatbuilder.py", line 207, in parseFile parser.Parse(buffer, 0) xml.parsers.expat.ExpatError: mismatched tag: line 40, column 3