运行以下代码报错，rviz中不显示机器人模型

roslaunch ur_description view_ur5_ft_grasp.launch

代码如下：

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur5_robot_ft_grasp">  

  <!--ur5-->
  <xacro:include filename="$(find ur_description)/urdf/ur5.xacro"/>
  
  <!--ft300-->
  <xacro:include filename="$(find robotiq_ft_sensor)/urdf/robotiq_ft300.urdf.xacro"/> 
  
  <!--2f-140-gripper-->
  <xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f_140_macro.xacro" />

  <!--robotiq_ft_sensor-->
  <xacro:robotiq_ft300 prefix="" parent="tool0">
      <origin xyz="0 0 0" rpy="0 0 0"/>
  </xacro:robotiq_ft300>
  
  <!--robotiq 2f-140 gripper-->
  <xacro:robotiq_arg2f_140 prefix=""/>
  <joint name="ft_gripper_joint" type="fixed">
    <parent link="robotiq_ft_frame_id"/>
    <child link="robotiq_arg2f_base_link"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  
</robot>