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It is unclear whether you are using the robot hardware or simulation as you state "I want to use simulated ROSbot2," but you set use_gazebo to false and get port errors. In simulation, your port connection problems won't apply when you get things straightened out.

In any case, I recommend you go through all of the Husarion tutorials before trying to do all of this at once. Get the basics working, then build on that. I'll try to briefly answer your questions, though.

*Why this error " Error opening serial: Could not configure port: (5, 'Input/output error') " occurs?

The error indicates that the serial_node had trouble with the specified port (/dev/ttyS1). Again, do you have hardware connected? Are you sure that's the correct port? If so, it will require more in-depth troubleshooting that is more appropriate for a separate post.

*Can I display or bring ROSbot model to rviz?

Yes. As an example, ROSbot has a file called rosbot_rviz.launch here that does just that. Try running

roslaunch rosbot_description rosbot_rviz.launch

*Why Gazebo started while it is set false in the launch file?

It turns out you have nested launch files (see the include tags), where one of the nested files calls Gazebo anyway. I believe the offending line is here:

<!-- Bring the ROSbot model to rviz -->
<include file="$(find rosbot_description)/launch/rosbot.launch"/>

The rosbot.launch file contains this reference to a launch file that starts Gazebo:

<include file="$(find rosbot_description)/launch/rosbot_gazebo.launch"></include>

*Are the launch file correct? Do I missed packages?

As indicated above the launch files are not "correct" in that there are multiple layers of nested files that conflict with each other to produce undesired behavior. I don't see an indication of missing packages, though.

Regarding the map, could you please check it?

I don't know what you want the map to look like, so I can't really comment on the image. The YAML file indicates a resolution of 0.1 m, so your 8x8 map covers an area less than a square meter. I doubt that will be very useful, but that's up to you.

*Do I need rplidar package?

You only need that package for running the lidar hardware. The lidar hardware is necessary if you want to map or navigate with the actual robot. In simulation with Gazebo, the lidar data would be produced by a ray sensor plugin, but that's already taken care of in the ROSbot package.