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You need to set unique names for each model you include.

<include>
  <name>sonar_0</name>
  <uri>model://sonar</uri>
  <pose>0 0 0.03 0 -1.570796 3.141592</pose>
</include>
<joint name="sonar_front_joint" type="fixed">
  <parent>iris::base_link</parent>
  <child>sonar_0::link</child>
</joint>