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I think the errors are due to a version problem and a missing file problem, but I'm not sure about the version problem because I have only used the kinetic version of ROS. First, change the types to gzserver and gzclient respectively. Second, there is no empty.world file in the "$(find cvg_sim_gazebo)/worlds/empty.world" directory. Maybe, the developers accidentally erased it. Anyway, args="worlds/empty.world" works if you have sourced the gazebo_ros directory. The version below works for me, you can delete the commented previous version.

<?xml version="1.0"?>
<launch>
  <param name="/use_sim_time" value="true" />
<!--    <node name="empty_world_server" pkg="gazebo_ros" type="gazebo" args="$(find cvg_sim_gazebo)/worlds/empty.world" respawn="false" output="screen">
  </node> -->

  <node name="empty_world_server" pkg="gazebo_ros" type="gzserver" args="worlds/empty.world" respawn="false" output="screen">
  </node>
<!--  <node name="gazebo_gui" pkg="gazebo_ros" type="gui" respawn="false" output="screen"/>-->
    <node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" output="screen"/>
</launch>