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Failed to find root link: Two root links found: [robot_base_link] and [world]

With Gazebo, you can not have multiple root links in your URDF, as the error message is saying. Now, the problem is that you are using the file ur10e_robot.urdf.xacro which already defines a root link world for the robot, but this root link does not support the prefix argument as you can see here

To solve your problem, you could not refer to the ur10e_robot.urdf.xacro directly, but just copy its content to your URDF and with an updated definition of the world link, like this:

<joint name="world_joint" type="fixed">
  <parent link="world" />
  <child link = "{prefix}robot_base_link" />
  <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />