URDF not launching in gazebo

[sangregoriokimpo]

I am having trouble launching my quadruped robot. I've used the following commands to launch it:

roslaunch marshalle1_config bringup.launch gazebo:=true

roslaunch marshalle1_config bringup.launch gazebo:=true rviz:=true

roslaunch marshalle1_config bringup.launch

but when it launches gazebo doesnt open. when launching the quadruped config file, I get this:

sangregorioquimpo@sangregorioquimpo-Standard-PC-Q35-ICH9-2009:~/champ_ws$ roslaunch marshalle1_config bringup.launch
... logging to /home/sangregorioquimpo/.ros/log/63e8418c-0ada-11f0-85a7-52540037c51a/roslaunch-sangregorioquimpo-Standard-PC-Q35-ICH9-2009-5130.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.

started roslaunch server http://sangregorioquimpo-Standard-PC-Q35-ICH9-2009:43561/

SUMMARY
========

PARAMETERS
 * /base_to_footprint_ekf/base_link_frame: base_link
 * /base_to_footprint_ekf/frequency: 50
 * /base_to_footprint_ekf/imu0: imu/data
 * /base_to_footprint_ekf/imu0_config: [False, False, Fa...
 * /base_to_footprint_ekf/odom_frame: base_footprint
 * /base_to_footprint_ekf/pose0: base_to_footprint...
 * /base_to_footprint_ekf/pose0_config: [True, True, True...
 * /base_to_footprint_ekf/transform_time_offset: 0.045
 * /base_to_footprint_ekf/transform_timeout: 0.01
 * /base_to_footprint_ekf/two_d_mode: False
 * /base_to_footprint_ekf/world_frame: base_footprint
 * /champ_controller/gazebo: False
 * /champ_controller/joint_controller_topic: joint_group_posit...
 * /champ_controller/publish_foot_contacts: True
 * /champ_controller/publish_joint_control: True
 * /champ_controller/publish_joint_states: True
 * /footprint_to_odom_ekf/base_link_frame: base_footprint
 * /footprint_to_odom_ekf/frequency: 50
 * /footprint_to_odom_ekf/imu0: imu/data
 * /footprint_to_odom_ekf/imu0_config: [False, False, Fa...
 * /footprint_to_odom_ekf/odom0: odom/raw
 * /footprint_to_odom_ekf/odom0_config: [False, False, Fa...
 * /footprint_to_odom_ekf/odom_frame: odom
 * /footprint_to_odom_ekf/transform_timeout: 0.01
 * /footprint_to_odom_ekf/two_d_mode: True
 * /footprint_to_odom_ekf/world_frame: odom
 * /gait/com_x_translation: 0.0
 * /gait/knee_orientation: >>
 * /gait/max_angular_velocity_z: 1.0
 * /gait/max_linear_velocity_x: 0.5
 * /gait/max_linear_velocity_y: 0.25
 * /gait/nominal_height: 0.2
 * /gait/odom_scaler: 1.0
 * /gait/pantograph_leg: False
 * /gait/stance_depth: 0.0
 * /gait/stance_duration: 0.25
 * /gait/swing_height: 0.04
 * /joints_map/left_front: ['front_left_shou...
 * /joints_map/left_hind: ['rear_left_shoul...
 * /joints_map/right_front: ['front_right_sho...
 * /joints_map/right_hind: ['rear_right_shou...
 * /links_map/base: base_link
 * /links_map/left_front: ['front_left_shou...
 * /links_map/left_hind: ['rear_left_shoul...
 * /links_map/right_front: ['front_right_sho...
 * /links_map/right_hind: ['rear_right_shou...
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/ignore_timestamp: True
 * /robot_state_publisher/publish_frequency: 200
 * /robot_state_publisher/use_tf_static: False
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /tf_prefix: /
 * /velocity_smoother/accel_lim_v: 1.0
 * /velocity_smoother/accel_lim_w: 2.0
 * /velocity_smoother/decel_factor: 1.0
 * /velocity_smoother/frequency: 10.0
 * /velocity_smoother/quiet: True
 * /velocity_smoother/robot_feedback: 2
 * /velocity_smoother/speed_lim_v_x: 0.5
 * /velocity_smoother/speed_lim_v_y: 0.35
 * /velocity_smoother/speed_lim_w: 0.4

NODES
  /
    base_to_footprint_ekf (robot_localization/ekf_localization_node)
    champ_controller (champ_base/quadruped_controller_node)
    footprint_to_odom_ekf (robot_localization/ekf_localization_node)
    nodelet_manager (nodelet/nodelet)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    state_estimator (champ_base/state_estimation_node)
    velocity_smoother (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [5144]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 63e8418c-0ada-11f0-85a7-52540037c51a
process[rosout-1]: started with pid [5155]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [5162]
process[nodelet_manager-3]: started with pid [5163]
process[velocity_smoother-4]: started with pid [5164]
process[champ_controller-5]: started with pid [5165]
process[state_estimator-6]: started with pid [5171]
process[base_to_footprint_ekf-7]: started with pid [5177]
process[footprint_to_odom_ekf-8]: started with pid [5183]
[ INFO] [1743059354.967196072]: Successfully parsed urdf file
[ INFO] [1743059354.994484113]: Successfully parsed urdf file
[ WARN] [1743059355.016393959]: Warning: Some linear velocity entries in parameter imu0_config are listed true, but an sensor_msgs/Imu contains no information about linear velocities
[ WARN] [1743059355.018037378]: Warning: imu/data is listed as an input topic, but all its update variables are false

I'm able to launch it with gazebo if I change the launch file, but I think that I shouldn't have to do that as it creates more issues, with gait/walking/teleoperation not working