Can't parse transmissions. Invalid robot description.

edit

I want to simulate my robotic arm in gazebo. This error is coming whenever I am spawning my robot in gazebo and I can't able to load any of my joint_position controllers. I am attaching my urdf , control.yaml, and the launch files. error when spawning the robot

[ERROR] [1594782495.582555693, 0.326000000]: Can't parse transmissions. Invalid robot description.
[ERROR] [1594782495.669790261, 0.326000000]: Error document empty.

error when loading the controllers:

[ERROR] [1594783081.365081451, 539.791000000]: Exception thrown while initializing controller joint_1_position_controller.
Could not find resource 'joint_1' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1594783081.365288101, 539.791000000]: Initializing controller 'joint_1_position_controller' failed

error while loading controller in another terminal

 Loading controller: joint_1_position_controller
    [ERROR] [1594783082.375160, 540.688000]: Failed to load joint_1_position_controller
    [INFO] [1594783082.375588, 540.688000]: Loading controller: joint_2_position_controller
    [ERROR] [1594783083.453085, 541.622000]: Failed to load joint_2_position_controller

This is my controller file

test_1_urdf:
#publish all joint states ------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50

#position Controllers
  joint_1_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_1
    pid: {p: 100.0 , i: 0.01 , d: 10 }
  joint_2_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_2
    pid: {p: 100.0 , i: 0.01 , d: 10 }
  joint_3_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_3
    pid: {p: 100.0 , i: 0.01 , d: 10 }
  joint_4_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_4
    pid: {p: 100.0 , i: 0.01 , d: 10 }
  joint_5_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint_5
    pid: {p: 100.0 , i: 0.01 , d: 10 }

This my urdf file

<?xml version="1.0"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="test_1_urdf">

 <!-- <link name="world"/>
  <joint name="fixed" type="fixed">
    <parent name="world"/>
    <chile name="base_link"/>
  </joint>-->

  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.026901 0.024709 -0.0098697"
        rpy="0 0 0" />
      <mass
        value="0.34742" />
      <inertia
        ixx="0.00046368"
        ixy="-2.9001E-06"
        ixz="-3.7543E-19"
        iyy="0.0010571"
        iyz="-5.1522E-19"
        izz="0.00076443" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://test_1_urdf/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://test_1_urdf/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="link_1">
    <inertial>
      <origin
        xyz="-0.033996 0.053779 0.0013632"
        rpy="0 0 0" />
      <mass
        value="0.62403" />
      <inertia
        ixx="0.00055304"
        ixy="3.8373E-06"
        ixz="1.4793E-07"
        iyy="0.00073956"
        iyz="-2.5812E-09"
        izz="0.00076923" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://test_1_urdf/meshes/link_1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material> ...