Model not displayed on Gazebo

edit

Hello. This may be a little confusing because I am using a translator.

I was trying to simulate my robot using Gazebo and MoveIt2. I can use Rviz to view models from urdf files, and I can use MoveIt2 and Rviz for planning, but I just can't get Gazebo to display them.

Here is the urdf file, the launch file, and the results of the run.Please, could you think together with me? After I spawn an entity, gzserver freezes for about 2 minutes, and then I can see the joints, controllers, etc. in Gazebo, but the model does not show up.

waiting gazebo:

$ env | grep ROS

ROS_VERSION=2  
ROS_PYTHON_VERSION=3  
ROS_LOCALHOST_ONLY=0  
ROS_DISTRO=humble

Execution Result Log

tsumu@MONDAY-UBUNTU-LAPTOP:~/ros-humble/dexterous_hand_v1_ws$ ros2 launch dexterous_hand_v1_gazebo_ros2_control arm.launch.py   
 [INFO] [launch]: All log files can be found below /home/tsumu/.ros/log/2023-04-05-20-20-33-857012-MONDAY-UBUNTU-LAPTOP-6119  
 [INFO] [launch]: Default logging verbosity is set to INFO  
 [INFO] [gzserver-1]: process started with pid [6120]  
 [INFO] [gzclient-2]: process started with pid [6122]  
 [INFO] [robot_state_publisher-3]: process started with pid [6124]  
 [INFO] [spawn_entity.py-4]: process started with pid [6126]  
 [robot_state_publisher-3] [INFO] [1680693634.338109509] [robot_state_publisher]: got segment base_link  
 [robot_state_publisher-3] [INFO] [1680693634.338220516] [robot_state_publisher]: got segment dummy  
 [robot_state_publisher-3] [INFO] [1680693634.338231817] [robot_state_publisher]: got segment forth_link_1  
 [robot_state_publisher-3] [INFO] [1680693634.338238713] [robot_state_publisher]: got segment second_link_1  
 [robot_state_publisher-3] [INFO] [1680693634.338244831] [robot_state_publisher]: got segment third_link_1  
 [spawn_entity.py-4] [INFO] [1680693634.715247842] [spawn_entity]: Spawn Entity started  
 [spawn_entity.py-4] [INFO] [1680693634.715531098] [spawn_entity]: Loading entity published on topic robot_description  
 [spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.  
 [spawn_entity.py-4]   warnings.warn(  
 [spawn_entity.py-4] [INFO] [1680693634.716870559] [spawn_entity]: Waiting for entity xml on robot_description  
 [spawn_entity.py-4] [INFO] [1680693634.823384964] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30  
 [spawn_entity.py-4] [INFO] [1680693634.823616607] [spawn_entity]: Waiting for service /spawn_entity  
 [spawn_entity.py-4] [INFO] [1680693635.577584619] [spawn_entity]: Calling service /spawn_entity  
 [spawn_entity.py-4] [INFO] [1680693635.669593639] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [dexterous_hand_v1]  
 [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 6126]  

==========================================================
It freezes here for about 2 minutes, and then the following log flows at once
==========================================================

 [gzserver-1] [INFO] [1680693751.423159905] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin  
 [gzserver-1] [INFO] [1680693751.425924060] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /  
 [gzserver-1] [INFO] [1680693751.426113717] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control  
 [gzserver-1] [INFO] [1680693751.426161078] [gazebo_ros2_control]: Loading parameter files /home/tsumu/ros-humble/dexterous_hand_v1_ws/install/dexterous_hand_v1_gazebo_ros2_control/share/dexterous_hand_v1_gazebo_ros2_control/config/dexterous_hand_v1_move_group_controller.yaml  
 [gzserver-1] [INFO] [1680693751.467614275] [gazebo_ros2_control]: connected to service!! robot_state_publisher  
 [gzserver-1] [INFO] [1680693751.467908923] [gazebo_ros2_control]: Recieved urdf from param server, parsing...  
 [gzserver-1] [INFO] [1680693751.475137434] [gazebo_ros2_control]: Loading joint: joint1  
 [gzserver-1] [INFO] [1680693751.475172459] [gazebo_ros2_control]:  State:  
 [gzserver-1] [INFO] [1680693751.475179512] [gazebo_ros2_control]:       position  
 [gzserver-1] [INFO] [1680693751.475186286] [gazebo_ros2_control]:           found initial value: 0.000000  
 [gzserver-1] [INFO] [1680693751.475193915] [gazebo_ros2_control]:       velocity  
 [gzserver-1] [INFO] [1680693751.475198683] [gazebo_ros2_control]:  Command:  
 [gzserver-1] [INFO] [1680693751.475204052] [gazebo_ros2_control]:       position  
 [gzserver-1] [INFO] [1680693751.475483117] [gazebo_ros2_control]: Loading joint: joint2  
 [gzserver-1] [INFO] [1680693751.475489250] [gazebo_ros2_control]:  State:  
 [gzserver-1] [INFO] [1680693751.475493510] [gazebo_ros2_control]:       position  
 [gzserver-1] [INFO] [1680693751.475497505] [gazebo_ros2_control]:           found initial value: 0.000000  
 [gzserver-1] [INFO] [1680693751 ...