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Hi elias,

your launch file structure is wrong.

<launch>
  <!-- Convert an xacro and put on parameter server -->
  <param name="robot_description" command="$(find xacro)/xacro.py $(find pr2_description)/robotspr2.urdf.xacro" />

  <!-- Spawn a robot into Gazebo -->
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf-model pr2" />

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find pr2_gazebo)/worlds/pr2.world"/>
    <!-- more default parameters can be changed here -->
  </include>
</launch>

the launch file should always have a root element <launch/> the ros wiki contains a good description about roslaunch files...

I have no idea about the second failure but it seems like one file is containing more that one line declaring the gui argument...