ROS2 humble Gazebo launch:[spawn_entity.py-4] warnings.warn( [spawn_entity.py-4] [INFO] [1730166918.315410734] [spawn_entity]: Waiting for entity xml on robotarm_description

[cowardless]

I have a robot arm with xacro and link meshes files in STL format. And then I create a launch file to emulate my robot in gazebo. The launch files is:

<launch>
  <let name="urdf_path" 
    value="$(find-pkg-share robotarm_description)/urdf/box.urdf.xacro"/>
  <node pkg="robot_state_publisher" 
      exec="robot_state_publisher" >
      <param name="robot_description" 
          value="$(command 'xacro  $(var urdf_path)')"/>
  </node>
  <include
    file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py" />
  <node
    pkg="gazebo_ros"
    exec="spawn_entity.py"
    args="-topic robotarm_description -entity robotarm" 
    output="screen"/>
</launch>

And then I use the command ros2 launch gazebo gazebo.launch
the cmd displayed ：
[INFO] [launch]: All log files can be found below /home/cwh/.ros/log/2024-10-29-09-55-17-319978-cwh-virtual-machine-23193 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [23195] [INFO] [gzserver-2]: process started with pid [23197] [INFO] [gzclient-3]: process started with pid [23199] [INFO] [spawn_entity.py-4]: process started with pid [23201] [robot_state_publisher-1] [INFO] [1730166918.074893318] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1730166918.075125014] [robot_state_publisher]: got segment dummy_link [spawn_entity.py-4] [INFO] [1730166918.312167253] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1730166918.312705985] [spawn_entity]: Loading entity published on topic robotarm_description [spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [spawn_entity.py-4] warnings.warn( [spawn_entity.py-4] [INFO] [1730166918.315410734] [spawn_entity]: Waiting for entity xml on robotarm_description
Then I waited for a long time but nothing else happens. Gazebo didn't open . It just stuck here.
Can anyone tell me how to solve this problem? I really need help.