6.4.2 我在gazebo中无法显示fishbot机器人模型，求求帮看一下是怎么回事，按书上的代码也是一样的报错

抱着咸鱼的啊黄

背景：
我的代码是如下，和鱼哥的视频里的一样，然后我终端执行ros2 launch fishbot_description gazebo_sim.launch.py命令时，终端显示：
[ERROR] [launch]: Caught exception in launch (see debug for traceback): launch configuration 'model' does not exist这串错误，并且gazebo打不开
当我终端执行ros2 launch fishbot_description gazebo_sim.launch.py --debug命令时，gazebo打开了，但是fishbot模型没显示，终端显示：
[Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x72d00b7d9c30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x72d00b7d9c30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x72d00b6a6650>'
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x72d00b7d9c30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x72d00b7d9c30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x72d00b6a6650>'
这个错误

import launch
import launch.launch_description_sources
import launch_ros
from ament_index_python.packages import get_package_share_directory
import os
import launch_ros.descriptions
def generate_launch_description():

urdf_package_path = get_package_share_directory('fishbot_description')

default_xacro_path = os.path.join(urdf_package_path, 'urdf','fishbot/fishbot.urdf.xacro')
# default_xacro_path = os.path.join(urdf_package_path,f'/home/cjl/chapt6/chapt6_ws/src/fishbot_description/urdf/fishbot/fishbot.urdf.xacro')
#default_rviz_config_path= os.path.join(urdf_package_path,'config','display_robot_model.rviz')
default_gazebo_world_path= os.path.join(urdf_package_path,'world','custom_room.world')
#声明一个xacro目录的参数，方便修改
action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
    name='model',default_value=str(default_xacro_path),description='加载的模型文件路径'
)
#通过文件路径，获取内容，并转换成参数值对象，以供传入'robot_state_publisher'
substitutions_command_result =launch.substitutions.Command(['xacro ',launch.
substitutions.LaunchConfiguration('model')])
robot_description_value=launch_ros.parameter_descriptions.ParameterValue(substitutions_command_result,
value_type=str)
action_robot_state_publisher = launch_ros.actions.Node(
    package='robot_state_publisher',
    executable='robot_state_publisher',
    parameters=[{'robot_description':robot_description_value}]
)

# action_joint_state_publisher = launch_ros.actions.Node(
#     package='joint_state_publisher',
#     executable='joint_state_publisher',
    
# )
# action_rviz_node = launch_ros.actions.Node(
#     package='rviz2',
#     executable='rviz2',
#     arguments={'-d',default_rviz_config_path}
# )
action_launch_gazebo = launch.actions.IncludeLaunchDescription(
    launch.launch_description_sources.PythonLaunchDescriptionSource(
        [get_package_share_directory('gazebo_ros'),'/launch','/gazebo.launch.py']
    ),
    launch_arguments=[('world',default_gazebo_world_path),('verbose','true')]
)
action_spawn_entity =launch_ros.actions.Node(
    package='gazebo_ros',
    executable='spawn_entity.py',
    arguments=['-topic','/robot_description','-entity','fishbot']
)
return launch.LaunchDescription({
    action_declare_arg_mode_path,
    action_robot_state_publisher,
    action_launch_gazebo,
    action_spawn_entity
})

抱着咸鱼的啊黄

我车调出来了，之前colcon build 错文件夹了，导致chat6里面有两个install，好像混了，把另外一个删了，车模型就出来，但是我还是有
[Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x72d00b7d9c30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x72d00b7d9c30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x72d00b6a6650>'
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x72d00b7d9c30>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x72d00b7d9c30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x72d00b6a6650>'
这个错误
请问怎么解决

小鱼

@抱着咸鱼的啊黄这个没关系