Unable to spawn the urdf model

edit

I am trying to follow the tutorial https://gazebosim.org/docs/garden/spa... . I have a URDF file which works fine in Rviz2. While following the tutorial, I run the command ign gazebo empty.sdf in one terminal. After running this command, I get an empty window as shown in the tutorial. Now, I open another terminal in the directory where the urdf file is and run the command gz service -s /world/empty/create --reqtype gz.msgs.EntityFactory --reptype gz.msgs.Boolean --timeout 1000 --req 'sdf_filename: "robot_new.urdf", name: "urdf_model"', I get two errors in the terminal window which are

Error [parser.cc:729] Error finding file [robot_new.urdf]
[Err] [UserCommands.cc:1138] Error Code 1: Msg: Unable to read file:robot_new.urdf

The urdf file is

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from robot_x.urdf.xacro             | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="robot">
  <!-- Specify some standard inertial calculations https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
  <!-- These make use of xacro's mathematical functionality -->
  <material name="white">
    <color rgba="1 1 1 1"/>
  </material>
  <material name="orange">
    <color rgba="1 0.3 0.1 1"/>
  </material>
  <material name="blue">
    <color rgba="0.2 0.2 1 1"/>
  </material>
  <material name="black">
    <color rgba="0 0 0 1"/>
  </material>
  <!-- BASE LINK-->
  <link name="base_link">

    </link>
  <!-- CHASSIS LINK -->
  <link name="chassis">
    <visual>
      <geometry>
        <box size="0.3 0.3 0.15"/>
      </geometry>
      <origin xyz="0.15 0 0.075"/>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.3 0.3 0.15"/>
      </geometry>
      <origin xyz="0.15 0 0.075"/>
      <material name="white"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.15 0 0.075"/>
      <mass value="0.5"/>
      <inertia ixx="0.004687499999999999" ixy="0.0" ixz="0.0" iyy="0.004687499999999999" iyz="0.0" izz="0.0075"/>
    </inertial>
  </link>
  <!-- BASE_LINK CHASSIS JOINT-->
  <joint name="chassis_joint" type="fixed">
    <parent link="base_link"/>
    <child link="chassis"/>
    <origin xyz="-0.1 0 0"/>
  </joint>
  <!-- LEFT WHEEL LINK -->
  <link name="left_wheel">
    <visual>
      <geometry>
        <cylinder length="0.04" radius="0.05"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.04" radius="0.05"/>
      </geometry>
      <material name="blue"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.1"/>
      <inertia ixx="7.583333333333335e-05" ixy="0.0" ixz="0.0" iyy="7.583333333333335e-05" iyz="0.0" izz="0.00012500000000000003"/>
    </inertial>
  </link>

  <joint name="left_wheel_joint" type="continuous">
    <parent link="base_link"/>
    <child link="left_wheel"/>
    <axis xyz="0 0 1"/>
    <origin rpy="-1.57075 0 0" xyz="0 0.175 0"/>
  </joint>
  <!-- RIGHT WHEEL LINK -->
  <link name="right_wheel">
    <visual>
      <geometry>
        <cylinder length="0.04" radius="0.05"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.04" radius="0.05"/>
      </geometry>
      <material name="blue"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.1"/>
      <inertia ixx="7.583333333333335e-05" ixy="0.0" ixz="0.0" iyy="7.583333333333335e-05" iyz="0.0" izz="0.00012500000000000003"/>
    </inertial>
  </link>
  <joint name="right_wheel_joint" type="continuous ...