launch运行报错

小猴同学

系统ubuntu22.04 ros2 humble
我的launch文件如下：

<launch>
  <!-- Vehicle's initial position -->
  <arg name="debug" default="0"/>
  <arg name="x" default="0"/>
  <arg name="y" default="0"/>
  <arg name="z" default="-5"/>
  <arg name="roll" default="0.0"/>
  <arg name="pitch" default="0.0"/>
  <arg name="yaw" default="0.0"/>

  <arg name="use_sim_time" default="true"/>
  <arg name="use_geodetic" default="false"/>
  <arg name="latitude" default="0"/>
  <arg name="longitude" default="0"/>
  <arg name="depth" default="0"/>

  <arg name="mode" default="default"/>
  <arg name="namespace" default="eca_a9"/>
  <arg name="latitude_ref" default="0"/>
  <arg name="longitude_ref" default="0"/>
  <arg name="altitude_ref" default="0"/>

 
  <arg name="record" default="false"/>
  <arg name="bag_filename" default="recording.bag"/>

  <arg name="use_ned_frame" default="true"/>

  <arg name="uuv_name" default="eca_a9"/>
  <arg name="joy_id" default="0"/>

  <include file="$(find-pkg-share eca_a9_description)/launch/upload_eca_a9.launch">
    <arg name="debug" value="$(var debug)"/>
    <arg name="x" value="$(var x)"/>
    <arg name="y" value="$(var y)"/>
    <arg name="z" value="$(var z)"/>
    <arg name="roll" value="$(var roll)"/>
    <arg name="pitch" value="$(var pitch)"/>
    <arg name="yaw" value="$(var yaw)"/>
    <arg name="use_ned_frame" value="$(var use_ned_frame)"/>
    <arg name="namespace" value="$(var namespace)"/>
  </include>

  <include file="$(find-pkg-share eca_a9_control)/launch/start_auv_teleop.launch">
    <arg name="uuv_name" value="$(var uuv_name)"/>
    <arg name="joy_id" value="$(var joy_id)"/>
  </include>

  <!-- Initialize the recording fo the simulation according to the record flag  -->
  <include file="$(find-pkg-share eca_a9_gazebo)/launch/record_demo.launch">
    <arg name="record" value="$(var record)"/>
    <arg name="use_ned_frame" value="$(var use_ned_frame)"/>
    <arg name="bag_filename" value="$(var bag_filename)"/>
  </include>
</launch>

终端报错：

[INFO] [launch]: All log files can be found below /home/user2/.ros/log/2023-02-16-18-17-19-117051-user2-544257
[INFO] [launch]: Default logging verbosity is set to INFO
redefining global symbol: range
when instantiating macro: pressure_plugin_macro (/home/user2/auv_ws/install/uuv_sensor_ros_plugins/share/uuv_sensor_ros_plugins/urdf/pressure_snippets.xacro)
instantiated from: default_pressure (/home/user2/auv_ws/install/uuv_sensor_ros_plugins/share/uuv_sensor_ros_plugins/urdf/pressure_snippets.xacro)
instantiated from: eca_a9_base (/home/user2/auv_ws/install/eca_a9_description/share/eca_a9_description/urdf/eca_a9_base.xacro)
in file: /home/user2/auv_ws/install/eca_a9_description/share/eca_a9_description/urdf/eca_a9_sensors.xacro
included from: /home/user2/auv_ws/install/eca_a9_description/share/eca_a9_description/robots/eca_a9_default.urdf.xacro
redefining global symbol: gamma
when instantiating macro: chemical_concentration_sensor_macro (/home/user2/auv_ws/install/uuv_sensor_ros_plugins/share/uuv_sensor_ros_plugins/urdf/chemical_concentration_snippets.xacro)
instantiated from: default_chemical_concentration_sensor (/home/user2/auv_ws/install/uuv_sensor_ros_plugins/share/uuv_sensor_ros_plugins/urdf/chemical_concentration_snippets.xacro)
instantiated from: eca_a9_base (/home/user2/auv_ws/install/eca_a9_description/share/eca_a9_description/urdf/eca_a9_base.xacro)
in file: /home/user2/auv_ws/install/eca_a9_description/share/eca_a9_description/urdf/eca_a9_sensors.xacro
included from: /home/user2/auv_ws/install/eca_a9_description/share/eca_a9_description/robots/eca_a9_default.urdf.xacro
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught exception when trying to load file of format [launch]: Error trying to process rule "substitution":

Unknown substitution: arg

其中有问题的一个文件，其程序是这样的

// Copyright (c) 2020 The Plankton Authors.
// All rights reserved.
//
// This source code is derived from UUV Simulator
// (https://github.com/uuvsimulator/uuv_simulator)
// Copyright (c) 2016-2019 The UUV Simulator Authors
// licensed under the Apache 2 license
// cf. 3rd-party-licenses.txt file in the root directory of this source tree.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <uuv_sensor_ros_plugins/SubseaPressureROSPlugin.h>


namespace gazebo
{
  //double range = 3000;
/////////////////////////////////////////////////
SubseaPressureROSPlugin::SubseaPressureROSPlugin() : ROSBaseModelPlugin()
{ }

/////////////////////////////////////////////////
SubseaPressureROSPlugin::~SubseaPressureROSPlugin()
{ }

/////////////////////////////////////////////////
void SubseaPressureROSPlugin::Load(physics::ModelPtr _model,
  sdf::ElementPtr _sdf)
{
  ROSBaseModelPlugin::Load(_model, _sdf);

  //GetSDFParam<double>(_sdf, "saturation", this->saturation, 3000);
  GetSDFParam<double>(_sdf, "saturation", this->range, 3000);
  GetSDFParam<bool>(_sdf, "estimate_depth_on", this->estimateDepth, false);
  GetSDFParam<double>(_sdf, "standard_pressure", this->standardPressure,
    101.325);
  GetSDFParam<double>(_sdf, "kPa_per_meter", this->kPaPerM, 9.80638);

  this->rosSensorOutputPub =
    myRosNode->create_publisher<sensor_msgs::msg::FluidPressure>(
      this->sensorOutputTopic, 1);

  if (this->gazeboMsgEnabled)
  {
    this->gazeboSensorOutputPub =
      this->gazeboNode->Advertise<sensor_msgs::msgs::Pressure>(
          myRobotNamespace + "/" + this->sensorOutputTopic, 1);
  }
}

/////////////////////////////////////////////////
bool SubseaPressureROSPlugin::OnUpdate(const common::UpdateInfo& _info)
{
  // Publish sensor state
  this->PublishState();

  if (!this->EnableMeasurement(_info))
    return false;

  // Using the world pose wrt Gazebo's ENU reference frame
  ignition::math::Vector3d pos;
#if GAZEBO_MAJOR_VERSION >= 8
  pos = this->link->WorldPose().Pos();
#else
  pos = this->link->GetWorldPose().Ign().Pos();
#endif

  double depth = std::abs(pos.Z());
  double pressure = this->standardPressure;
  if (depth >= 0)
  {
    // Convert depth to pressure
    pressure += depth * this->kPaPerM;
  }

  pressure += this->GetGaussianNoise(this->noiseAmp);

  double inferredDepth = 0.0;
  // Estimate depth, if enabled
  if (this->estimateDepth)
  {
    inferredDepth = (pressure - this->standardPressure) / this->kPaPerM;
  }

  // Publish Gazebo pressure message, if enabled
  if (this->gazeboMsgEnabled)
  {
    sensor_msgs::msgs::Pressure gazeboMsg;

    gazeboMsg.set_pressure(pressure);
    gazeboMsg.set_stddev(this->noiseSigma);

    if (this->estimateDepth)
      gazeboMsg.set_depth(inferredDepth);
    this->gazeboSensorOutputPub->Publish(gazeboMsg);
  }

  // Publish ROS pressure message
  sensor_msgs::msg::FluidPressure rosMsg;

  rosMsg.header.stamp.sec  = _info.simTime.sec;
  rosMsg.header.stamp.nanosec = _info.simTime.nsec;
  rosMsg.header.frame_id = this->link->GetName();

  rosMsg.fluid_pressure = pressure;
  rosMsg.variance = this->noiseSigma * this->noiseSigma;

  this->rosSensorOutputPub->publish(rosMsg);

  // Read the current simulation time
#if GAZEBO_MAJOR_VERSION >= 8
  this->lastMeasurementTime = this->world->SimTime();
#else
  this->lastMeasurementTime = this->world->GetSimTime();
#endif
  return true;
}

/////////////////////////////////////////////////
GZ_REGISTER_MODEL_PLUGIN(SubseaPressureROSPlugin)
}

那个参数在其函数文件定义的是protected类型的，各位大佬，请问这是什么情况呢？怎么解决呢