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Make a modification in your launch file. Your other files are fine. Your setup.py will result the urdf files to be copied and not the directory like this: /home/ubuntu/handsonros2/install/rviz2_basics/share/rviz2_basics/gopigoMinimal.urdf
You can confirm if the file exists on this path by cd'ing into it.

If you'd like the syntax for reference, you can refer to this package.

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