i am having troubles following the URDF tutorial

edit

so i was following this tutorial (http://wiki.ros.org/urdf/Tutorials/Bu...)

and installed the tutorial package from this github : (https://github.com/ros/urdf_tutorial) as follow: (git clone https://github.com/ros/urdf_tutorial.git)

then i built the workspace and it built successfully. but when i launch the first command as the tutorial i get this error:

launch command: ($ roslaunch urdf_tutorial display.launch model:=urdf/01-myfirst.urdf)

the error:

No such file or directory: urdf/01-myfirst.urdf [Errno 2] No such file or directory: 'urdf/01-myfirst.urdf' RLException: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', 'urdf/01-myfirst.urdf']] returned with code [2].

Param xml is The traceback for the exception was written to the log file

can someone help me with this error pls

i am using ROS noetic