Can not launch the file to load my world and Turtlebot models

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When I launch my file with the command: roslaunch TestWorld1.launch the error is shown as:

IOError: [Errno 2] No such file or directory: '/opt/ros/indigo/share/turtlebot_description/robots/(arg base)_(arg stacks)_(arg 3d_sensor).urdf.xacro'
while processing /opt/ros/indigo/share/turtlebot_gazebo/launch/includes/kobuki.launch.xml:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/indigo/share/xacro/xacro.py '/opt/ros/indigo/share/turtlebot_description/robots/(arg base)_(arg stacks)_(arg 3d_sensor).urdf.xacro'] returned with code [1].

Param xml is <param command="$(arg urdf_file)" name="robot_description"/>. The traceback for the exception was written to the log file

Here is my launch file:

<launch>  

  <arg name="base"      value="$(optenv TURTLEBOT_BASE kobuki)"/>
  <arg name="battery"   value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/>
  <arg name="gui" default="true"/>
  <arg name="stacks"    value="$(optenv TURTLEBOT_STACKS hexagons)"/>
  <arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="home/ziyubian/turtlebot_custom_gazebo_worlds/TestWorld1.world"/>
    <arg name="paused" default="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="debug" value="false"/>
    <arg name="gui" value="$(arg gui)" />
  </include>


  <include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
    <arg name="base" value="(arg base)"/>
    <arg name="stacks" value="(arg stacks)"/>
    <arg name="3d_sensor" value="(arg 3d_sensor)"/>
  </include>


  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>

</launch>

Does anybody know how can I fix it? Thanks in advance!