Big problem in Gazebo + ROS control handling the URDF modle. The URDF modle can run well in Rviz, but in Gazebo, it is in Chaos when running

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No error was reminding when running in gazebo, but the modle cannot run well.
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<?xml version="1.0" ?> /robot transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 Gazebo/white Gazebo/white Gazebo/white `<?xml version="1.0" ?> /robot transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 Gazebo/white Gazebo/white Gazebo/white `