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There is a problem with this book and particularly in Chapter 2 & 3. Here is the solution for that. From the tutorials, I believe you have the soft codes of this book, there will be file in the main pkg file named urdf.rviz and urdf.vcg. Copy these files into your created package file. After that, try what you are doing currently and let me know the problem if it occurs. In case, if you don't have codes for the tutorials download it from here (Link). Best of luck.