Failed to spawn URDF in gazebo

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Hi, I'm new to gazebo, I installed the gazemo citadel from binary, and went through the tutorial Spawn URDF： https://gazebosim.org/docs/citadel/sp... When I ran ign gazebo empty.sdf in terminal, the gazebo interface pop up, but the main window kept blinking, I'm not able to see a world. Then I ran

ign service -s /world/empty/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req 'sdf_filename: "07-physics.urdf", name: "urdf_model"'

in another terminal, it returned data:true, but error occured in gazebo:

[Err] [SystemPaths.cc:363] Unable to find file with URI [model://urdf_tutorial/meshes/l_finger.dae] [Err] [SystemPaths.cc:450] Could not resolve file [model://urdf_tutorial/meshes/l_finger.dae] [Err] [MeshManager.cc:172] Unable to find file[model://urdf_tutorial/meshes/l_finger.dae] [Err] [SystemPaths.cc:363] Unable to find file with URI [model://urdf_tutorial/meshes/l_finger_tip.dae] [Err] [SystemPaths.cc:450] Could not resolve file [model://urdf_tutorial/meshes/l_finger_tip.dae] [Err] [MeshManager.cc:172] Unable to find file[model://urdf_tutorial/meshes/l_finger_tip.dae] [Err] [SystemPaths.cc:363] Unable to find file with URI [model://urdf_tutorial/meshes/l_finger.dae] [Err] [SystemPaths.cc:450] Could not resolve file [model://urdf_tutorial/meshes/l_finger.dae] [Err] [MeshManager.cc:172] Unable to find file[model://urdf_tutorial/meshes/l_finger.dae] [Err] [SystemPaths.cc:363] Unable to find file with URI [model://urdf_tutorial/meshes/l_finger_tip.dae] [Err] [SystemPaths.cc:450] Could not resolve file [model://urdf_tutorial/meshes/l_finger_tip.dae] [Err] [MeshManager.cc:172] Unable to find file[model://urdf_tutorial/meshes/l_finger_tip.dae] [GUI] [Err] [SystemPaths.cc:363] Unable to find file with URI [model://urdf_tutorial/meshes/l_finger.dae] [GUI] [Err] [SystemPaths.cc:450] Could not resolve file [model://urdf_tutorial/meshes/l_finger.dae] [GUI] [Err] [MeshManager.cc:172] Unable to find file[model://urdf_tutorial/meshes/l_finger.dae] [GUI] [Err] [MeshDescriptor.cc:56] Mesh manager can't find mesh named [model://urdf_tutorial/meshes/l_finger.dae] [GUI] [Err] [Ogre2MeshFactory.cc:431] Cannot load null mesh [model://urdf_tutorial/meshes/l_finger.dae] [GUI] [Err] [Ogre2MeshFactory.cc:72] Failed to get Ogre item for [model://urdf_tutorial/meshes/l_finger.dae] [GUI] [Err] [SceneManager.cc:351] Failed to load geometry for visual: left_gripper_visual [GUI] [Err] [SystemPaths.cc:363] Unable to find file with URI [model://urdf_tutorial/meshes/l_finger_tip.dae] [GUI] [Err] [SystemPaths.cc:450] Could not resolve file [model://urdf_tutorial/meshes/l_finger_tip.dae] [GUI] [Err] [MeshManager.cc:172] Unable to find file[model://urdf_tutorial/meshes/l_finger_tip.dae] [GUI] [Err] [MeshDescriptor.cc:56] Mesh manager can't find mesh named [model://urdf_tutorial/meshes/l_finger_tip.dae] [GUI] [Err] [Ogre2MeshFactory.cc:431] Cannot load null mesh [model://urdf_tutorial/meshes/l_finger_tip.dae] [GUI] [Err] [Ogre2MeshFactory.cc:72] Failed to get Ogre item for [model://urdf_tutorial/meshes/l_finger_tip.dae] [GUI] [Err] [SceneManager.cc:351] Failed to load geometry for visual: left_gripper_fixed_joint_lump__left_tip_visual_1 [GUI] [Err] [SystemPaths.cc:363] Unable to find file with URI [model://urdf_tutorial/meshes/l_finger.dae] [GUI] [Err] [SystemPaths.cc:450] Could not resolve file [model://urdf_tutorial/meshes/l_finger.dae] [GUI] [Err] [MeshManager.cc:172] Unable to find file ... (more)