Collapsing Robot Model in ROS2 Gazebo

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Hello,

I am trying to use UR5 in ROS2 Gazebo. I referred to https://github.com/ros-industrial/uni... and https://github.com/ros-simulation/gaz.... For ros2_control, I modify the urdf to below.

<?xml version="1.0"?>
<robot xmlns:xacro="https://ros.org/wiki/xacro" name="my_ur5">

  <gazebo>
  <!-- ros_control plugin -->
    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
      <robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
      <parameters>$(find my_ur5_description)/cfg/gazebo_controllers.yaml</parameters>
    </plugin>
  </gazebo>
  <!-- ur5 -->
  <xacro:include filename="$(find my_ur5_description)/urdf/ur5.urdf.xacro" />

  <!-- ur5 -->
  <!-- The ur5 xacro must be included with passing parameters -->
  <xacro:ur5_robot prefix="" joint_limited="true"/>
  <!-- end-effector -->
  <!-- Here we include the end-effector by setting the parameters -->
  <!-- TODO: check end-effector link name of robot -->

  <!-- define the ur5's position and orientation in the world coordinate system -->
  <link name="world" />
  <joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link="base_link" /> <!-- TODO: check base_link name of robot -->
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
  </joint>

  <ros2_control name="GazeboSystem" type="system">
    <hardware>
      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
    </hardware>
    <joint name="shoulder_pan_joint">
      <command_interface name="position">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
      </command_interface>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="shoulder_lift_joint">
      <command_interface name="position">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
      </command_interface>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="elbow_joint">
      <command_interface name="position">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
      </command_interface>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="wrist_1_joint">
      <command_interface name="position">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
      </command_interface>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="wrist_2_joint">
      <command_interface name="position">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
      </command_interface>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="wrist_3_joint">
      <command_interface name="position">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
      </command_interface>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
  </ros2_control>

</robot>

I can spawn my UR5, but my robot is collapsed gradually. The terminal output is below.

[INFO] [launch]: All log files can be found below /root/.ros/log/2021-07-12-00-46-48-600249-hijikata-Ubuntu-29615
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [29617]
[INFO] [gzclient   -2]: process started with pid [29619]
[INFO] [robot_state_publisher-3]: process started with pid [29621]
[INFO] [static_transform_publisher-4]: process started with pid [29624]
[INFO] [spawn_entity.py-5]: process started with ...