Cannot run the second :roslaunch acl_sim perfect_tracker_and_sim.launch

[958117216]

Hello!
When I run the second :roslaunch acl_sim perfect_tracker_and_sim.launch,I meet error:

... logging to /home/gyl/.ros/log/2af5c044-8e6d-11ec-a867-bcf1718f8dce/roslaunch-gyl-Lenovo-31967.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

resource not found: hector_sensors_description
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/gyl/ROS_Projects/FASTER/src/acl-gazebo/acl_sim
ROS path [2]=/home/gyl/ROS_Projects/FASTER/src/behavior_selector
ROS path [3]=/home/gyl/ROS_Projects/FASTER/src/catkin_simple
ROS path [4]=/home/gyl/ROS_Projects/FASTER/src/faster/thirdparty/DecompROS/decomp_ros_msgs
ROS path [5]=/home/gyl/ROS_Projects/FASTER/src/faster/thirdparty/DecompROS/DecompUtil
ROS path [6]=/home/gyl/ROS_Projects/FASTER/src/faster/thirdparty/DecompROS/decomp_ros_utils
ROS path [7]=/home/gyl/ROS_Projects/FASTER/src/faster/thirdparty/DecompROS/decomp_test_node
ROS path [8]=/home/gyl/ROS_Projects/FASTER/src/faster/faster_msgs
ROS path [9]=/home/gyl/ROS_Projects/FASTER/src/acl-mapping/fla_msgs
ROS path [10]=/home/gyl/ROS_Projects/FASTER/src/acl-mapping/fla_utils
ROS path [11]=/home/gyl/ROS_Projects/FASTER/src/acl-mapping/depthmap_filter
ROS path [12]=/home/gyl/ROS_Projects/FASTER/src/acl-mapping/global-mapper/global_mapper
ROS path [13]=/home/gyl/ROS_Projects/FASTER/src/faster/thirdparty/jps3d
ROS path [14]=/home/gyl/ROS_Projects/FASTER/src/snapstack_msgs
ROS path [15]=/home/gyl/ROS_Projects/FASTER/src/faster/faster
ROS path [16]=/home/gyl/ROS_Projects/FASTER/src/acl-mapping/global-mapper/global_mapper_ros
ROS path [17]=/home/gyl/ROS_Projects/GYL_ws/Prometheus/Modules/common/msgs
ROS path [18]=/home/gyl/ROS_Projects/GYL_ws/Prometheus/Modules/control
ROS path [19]=/home/gyl/ROS_Projects/GYL_ws/Prometheus/Modules/mission
ROS path [20]=/home/gyl/ROS_Projects/GYL_ws/Prometheus/Modules/slam
ROS path [21]=/home/gyl/ROS_Projects/GYL_ws/Prometheus/Modules/planning
ROS path [22]=/home/gyl/ROS_Projects/GYL_ws/Prometheus/Modules/ground_station
ROS path [23]=/home/gyl/ROS_Projects/GYL_ws/Prometheus/Simulator/gazebo_simulator
ROS path [24]=/home/gyl/ROS_Projects/GYL_ws/Prometheus/Experiment
ROS path [25]=/opt/ros/melodic/share
when processing file: /home/gyl/ROS_Projects/FASTER/src/acl-gazebo/acl_sim/urdf/quadrotor_base.urdf.xacro
included from: /home/gyl/ROS_Projects/FASTER/src/acl-gazebo/acl_sim/urdf/quadrotor_with_asus.urdf.xacro
included from: /home/gyl/ROS_Projects/FASTER/src/acl-gazebo/acl_sim/urdf/quadrotor_with_asus.gazebo.xacro
RLException: while processing /home/gyl/ROS_Projects/FASTER/src/acl-gazebo/acl_sim/launch/spawn_quadrotor_with_asus.launch:
while processing /home/gyl/ROS_Projects/FASTER/src/acl-gazebo/acl_sim/launch/spawn_quadrotor.launch:
Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '/home/gyl/ROS_Projects/FASTER/src/acl-gazebo/acl_sim/urdf/quadrotor_with_asus.gazebo.xacro', 'base_link_frame:=/base_link', 'world_frame:=world']] returned with code [2].

Param xml is
The traceback for the exception was written to the log file

[958117216]

git clone https://github.com/tu-darmstadt-ros-pkg/hector_models , get the hector_sensors_description ros package. the question is solved!