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ROs Gazebo error on open URDF (roslaunch error)

Hi guys, I'm working with an hexapod in a project, so i need to import it from solid works to gazebo. I tried to use an URDF exporter, and it generated an folder with 2 launchs (gazebo.launch & display.launch). I tried to execute the gazebo.launch with roslaunch. It bring me an error

So I openned my .launch file:

And change some lines, getting this:

And now it is returning the following error:

Someone know waht should i do?