ABB_robot not spawning in Gazebo although it's working in rviz correctly

edit

I have a complicated robot it spawn correctly in rviz but when i try to have the gazebo bringUp, the robot doesn't appear: terminal output:

  logging to /home/beraru/.ros/log/deac11e6-3c94-11eb-aac7-9c305b2b6a57/roslaunch-beraru-22791.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Deprecated: xacro tag 'sensor_d435i' w/o 'xacro:' xml namespace prefix (will be forbidden in Noetic)
when processing file: /media/beraru/CE625F5C625F47FB/reza/rviz/src/abb_robot_model/urdf/abb_robot.urdf.xacro
Use the following command to fix incorrect tag usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'

xacro.py is deprecated; please use xacro instead
started roslaunch server http://beraru:34417/

SUMMARY
========

PARAMETERS
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_1/d: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_1/i: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_1/i_clamp: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_1/p: 100
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_2/d: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_2/i: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_2/i_clamp: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_2/p: 100
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_3/d: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_3/i: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_3/i_clamp: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_3/p: 100
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_4/d: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_4/i: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_4/i_clamp: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_4/p: 100
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_5/d: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_5/i: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_5/i_clamp: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_5/p: 100
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_6/d: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_6/i: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_6/i_clamp: 1
 * /abb_robot/gazebo_ros_control/pid_gains/abb_robot_joint_6/p: 100
 * /gazebo/enable_ros_network: True
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /use_sim_time: True

NODES
  /
    abb_robot_spawn (gazebo_ros/spawn_model)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    spawn_urdf (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[abb_robot_spawn-1]: started with pid [22809]
process[spawn_urdf-2]: started with pid [22810]
process[gazebo-3]: started with pid [22811]
process[gazebo_gui-4]: started with pid [22814]
[ INFO] [1607832383.525362033]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1607832383.526581006]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1607832383.643677101]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1607832383.647286837]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1607832383.976974650]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1607832383.997000535, 0.006000000]: Physics dynamic reconfigure ready.
[INFO] [1607832384.072188, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1607832384.087355, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1607832384.089901, 0.000000]: Calling service /gazebo/spawn_urdf_model
Warning [parser.cc:950] XML Element[always_on], child of element[camera] not defined in SDF. Ignoring[always_on]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[update_rate], child of element[camera] not defined in SDF. Ignoring[update_rate]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[always_on ...