Failed on Ubuntu20.04 (ros noetic)! roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch

[northpoleforce]

Hi, could you help me with this problem?
I run this command, but failed, and I don't know how to solve it.

roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch

log

[INFO] [1706445589.839807, 0.000000]: Waiting for /clock to be available...
[ INFO] [1706445589.889516980]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1706445589.890174568]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1706445589.932988938]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1706445589.933773417]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
Service [/RoboCup 14 SPL Field/shininess] is not valid.
Service [/RoboCup 3D Simulator Goal/shininess] is not valid.
Service [/RoboCup 3D Simulator Goal_0/shininess] is not valid.
[ INFO] [1706445590.114602195]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1706445590.123256265]: Physics dynamic reconfigure ready.
../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.
../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.
[ INFO] [1706445591.068040712]: Camera Plugin: Using the 'robotNamespace' param: '/pepper_robot'
[ INFO] [1706445591.069728148]: Camera Plugin (ns = /pepper_robot)  <tf_prefix_>, set to ""
[ INFO] [1706445591.075096304]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1706445591.076047249]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1706445591.090922374]: Camera Plugin: Using the 'robotNamespace' param: '/pepper_robot'
[ INFO] [1706445591.093730693]: Camera Plugin (ns = /pepper_robot)  <tf_prefix_>, set to ""
[ INFO] [1706445591.237377171]: Loading gazebo_ros_control plugin
[ INFO] [1706445591.237477794]: Starting gazebo_ros_control plugin in namespace: 
[ INFO] [1706445591.238020844]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ WARN] [1706445591.352771521]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'HeadYaw'.
[ERROR] [1706445591.353732940]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/HeadYaw
[ WARN] [1706445591.353771910]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'HeadPitch'.
[ERROR] [1706445591.354440327]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/HeadPitch
[ WARN] [1706445591.354468690]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'LShoulderPitch'.
[ERROR] [1706445591.355004777]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/LShoulderPitch
[ WARN] [1706445591.355030599]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'LShoulderRoll'.
[ERROR] [1706445591.355614406]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/LShoulderRoll
[ WARN] [1706445591.355661661]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'LElbowYaw'.
[ERROR] [1706445591.355937293]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/LElbowYaw
[ WARN] [1706445591.355959671]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'LElbowRoll'.
[ERROR] [1706445591.356178335]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/LElbowRoll
[ WARN] [1706445591.356200760]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'LWristYaw'.
[ERROR] [1706445591.356408381]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/LWristYaw
[ WARN] [1706445591.356430372]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'LHand'.
[ERROR] [1706445591.356642073]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/LHand
[ WARN] [1706445591.356665946]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'RShoulderPitch'.
[ERROR] [1706445591.356892752]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/RShoulderPitch
[ WARN] [1706445591.356911348]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'RShoulderRoll'.
[ERROR] [1706445591.357116651]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/RShoulderRoll
[ WARN] [1706445591.357134345]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'RElbowYaw'.
[ERROR] [1706445591.357338830]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/RElbowYaw
[ WARN] [1706445591.357358010]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'RElbowRoll'.
[ERROR] [1706445591.357563986]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/RElbowRoll
[ WARN] [1706445591.357583723]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'RWristYaw'.
[ERROR] [1706445591.357801942]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/RWristYaw
[ WARN] [1706445591.357819985]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'RHand'.
[ERROR] [1706445591.358033443]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/RHand
[ WARN] [1706445591.358051584]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'HipRoll'.
[ERROR] [1706445591.358258217]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/HipRoll
[ WARN] [1706445591.358276595]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'HipPitch'.
[ERROR] [1706445591.358480457]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/HipPitch
[ WARN] [1706445591.358498938]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'KneePitch'.
[ERROR] [1706445591.358704856]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/KneePitch
[ WARN] [1706445591.358722831]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'WheelFL'.
[ WARN] [1706445591.358858541]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'WheelB'.
[ WARN] [1706445591.358976081]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'WheelFR'.