robot_state_publisher has died

edit

i tried to run my code but get following error:

(ros_env) Apples-MacBook-Pro:urdf apple$ roslaunch urdf_tutorial display.launch  model:=robot_base.urdf.xacro

 process[rviz-4]: started with pid [2479]
    [robot_state_publisher-3] process has died [pid 2478, exit code -6, cmd /Users/apple/opt/anaconda3/envs/ros_env/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/Users/apple/.ros/log/6002da08-5013-11ec-94b4-b8e8563565aa/robot_state_publisher-3.log].
    log file: /Users/apple/.ros/log/6002da08-5013-11ec-94b4-b8e8563565aa/robot_state_publisher-3*.log

the code is :

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="robot_base">
<xacro:include filename ="$(find  robot_description)/urdf/robot_essentials.xacro"/>

<link name="base_link">
<visual>

<origin
xyz="0 0 0"
rpy="1.5707963267949 0 3.14" />
<geometry>
<mesh filename="package://robot_description/meshes/robot_base.stl"/>
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
</link>


<xacro:robot_wheel prefix="front_left"/>
<xacro:robot_wheel prefix="front_right"/>
<xacro:robot_wheel prefix="rear_left"/>
<xacro:robot_wheel prefix="rear_right"/>


<xacro:wheel_joint prefix="front_left" origin="0.220 0.250 0"/>
<xacro:wheel_joint prefix="front_right" origin="0.220 -0.250 0"/>
<xacro:wheel_joint prefix="rear_left" origin="-0.220 0.250 0"/>
<xacro:wheel_joint prefix="rear_right" origin="-0.220 -0.250 0"/> 

</robot>