roslaunch errors

[Crystal-Biru]

Hello! When I tried "roslaunch rrt_exploration_tutorials single_simulated_house.launch", I encountered the following errors and warnings:
[ERROR] [1712493727.221287092]: No link elements found in urdf file
[robot_1/robot_state_publisher-5] process has died [pid 23429, exit code 1, cmd /opt/ros/noetic/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/zbr/.ros/log/3e07d3f2-f4dc-11ee-8376-274261065f1b/robot_1-robot_state_publisher-5.log].
log file: /home/zbr/.ros/log/3e07d3f2-f4dc-11ee-8376-274261065f1b/robot_1-robot_state_publisher-5*.log
[ INFO] [1712493727.634127795]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1712493727.634766087]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1712493727.661114185]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1712493727.661813991]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
Service [/RoCKIn@Home/shininess] is not valid.
[ INFO] [1712493728.836308593, 2375.910000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1712493728.880100778, 2375.950000000]: Physics dynamic reconfigure ready.
[ WARN] [1712493729.115566742, 2376.190000000]: Timed out waiting for transform from robot_1/base_link to robot_1/map to become available before running costmap, tf error: canTransform: target_frame robot_1/map does not exist. canTransform: source_frame robot_1/base_link does not exist.. canTransform returned after 2376.19 timeout was 0.1.
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_1/odom (parent robot_1/map) at time 2376.280000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_1/odom (parent robot_1/map) at time 2376.280000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ WARN] [1712493729.156570129, 2376.230000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_1/odom (parent robot_1/map) at time 2376.280000 according to authority unknown_publisher
Error [parser_urdf.cc:3154] Unable to call parseURDF on robot model
Error [parser.cc:488] parse as old deprecated model file failed.
[ WARN] [1712493734.220644693, 2381.290000000]: Timed out waiting for transform from robot_1/base_link to robot_1/map to become available before running costmap, tf error: canTransform: source_frame robot_1/base_link does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ERROR] [1712493739.054048, 2386.120000]: Spawn service failed. Exiting.
[ WARN] [1712493739.321521485, 2386.390000000]: Timed out waiting for transform from robot_1/base_link to robot_1/map to become available before running costmap, tf error: canTransform: source_frame robot_1/base_link does not exist.. canTransform returned after 0.1 timeout was 0.1.
[robot_1/spawn_robot_1-4] process has died [pid 23428, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -x 0.0 -y 0.0 -z 0.0 -unpause -urdf -param robot_description -model robot_1 __name:=spawn_robot_1 __log:=/home/zbr/.ros/log/3e07d3f2-f4dc-11ee-8376-274261065f1b/robot_1-spawn_robot_1-4.log].
log file: /home/zbr/.ros/log/3e07d3f2-f4dc-11ee-8376-274261065f1b/robot_1-spawn_robot_1-4*.log
[ WARN] [1712493744.422507535, 2391.490000000]: Timed out waiting for transform from robot_1/base_link to robot_1/map to become available before running costmap, tf error: canTransform: source_frame robot_1/base_link does not exist.. canTransform returned after 0.1 timeout was 0.1.

My environment is Ubuntu 20.04 with ROS Noetic. As the standard Kobuki packages (ros-noetic-kobuki, and ros-noetic-kobuki-gazebo) are not be readily available, I use source installation through:
git clone https://github.com/yujinrobot/kobuki.git
git clone https://github.com/yujinrobot/kobuki_desktop.git # For kobuki-gazebo
But when I try to test rrt_exploration_tutorials, the above errors occurred and Gazebo cannot be loaded.