error with urdf file at launch [closed]

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I try to run this urdf file:

<?xml version="1.0" ?>
<robot name="wam-v" xmlns:xacro="http://ros.org/wiki/xacro">
  <link name="base_link">
    <visual>
      <geometry>
        <mesh filename="package://freddy/mesh/WAM-V.dae"/>
      </geometry>
    </visual>
    <collision name="base_link_collision">
      <geometry>
        <mesh filename="package://freddy/mesh/WAM-V.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="247.07"/>
      <inertia ixx="200" ixy="0.03" ixz="3.09" iyy="500" iyz="-0.05" izz="165.39"/>
    </inertial>
  </link>
  <link name="base_footprint"/>
  <joint name="base_link_joint" type="fixed">
    <origin xyz="0 0 1.84"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>


  <link name="front_camera_link"/>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="0.05 0.05 0.05"/>
      </geometry>
    </collision>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="0.05 0.05 0.05"/>
      </geometry>
      <material name="red"/>
    </visual>

    <inertial>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>


  <joint name="front_camera_joint" type="fixed">
    <origin xyz="1.2 0 0"/>
    <parent link="base_link"/>
    <child link="front_camera_link"/>
  </joint>



  <link name="left_camera_link"/>
  <joint name="left_camera_joint" type="fixed">
    <origin rpy="0 0 1.57079632679" xyz="0 0.5 0"/>
    <parent link="base_link"/>
    <child link="left_camera_link"/>
  </joint>
  <link name="right_camera_link"/>
  <joint name="right_camera_joint" type="fixed">
    <origin rpy="0 0 -1.57079632679" xyz="0 -0.5 0"/>
    <parent link="base_link"/>
    <child link="right_camera_link"/>
  </joint>
  <link name="rear_camera_link"/>
  <joint name="rear_camera_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="-0.5 0 0"/>
    <parent link="base_link"/>
    <child link="rear_camera_link"/>
  </joint>
  <link name="scan"/>
  <joint name="scan_joint" type="fixed">
    <origin rpy="0 0 0" xyz="1.5 0 -1"/>
    <parent link="base_link"/>
    <child link="scan"/>
  </joint>
  <link name="right_motor">
    <visual>
      <geometry>
        <mesh filename="package://freddy/mesh/PROPELLER.dae"/>
      </geometry>
    </visual>
    <collision name="right_motor_collision">
      <geometry>
        <mesh filename="package://freddy/mesh/PROPELLER.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <inertia ixx="0.00086" ixy="0.00" ixz="0.00" iyy="0.00086" iyz="0.00" izz="0.0017"/>
    </inertial>
  </link>
  <joint name="right_motor_joint" type="continuous">
    <origin xyz="-1.5 -1.027 -1.705"/>
    <parent link="base_link"/>
    <child link="right_motor"/>
    <limit effort="0.5293" velocity="1003.14159265359"/>
  </joint>
  <link name="left_motor">
    <visual>
      <geometry>
        <mesh filename="package://freddy/mesh/PROPELLER.dae"/>
      </geometry>
    </visual>
    <collision name="left_motor_collision">
      <geometry>
        <mesh filename="package://freddy/mesh/PROPELLER.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <inertia ixx="0.00086" ixy="0 ...