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Without seeing the actual error this is a bit of a guess, but:

You can name links any way you want (as long as you take care to follow the ROS naming conventions), but as @JoshMarino writes, you'll have to keep track of where those links are used and update those references as well.

Links in a urdf can be parents and children in joints fi, and the urdf parser will not be able to construct a tree for you if either of those doesn't resolve to a known link.