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xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://heng-mint:38957/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /gazebo_ros_control/pid_gains/wheel_1_joint/d: 10.0
 * /gazebo_ros_control/pid_gains/wheel_1_joint/i: 0.01
 * /gazebo_ros_control/pid_gains/wheel_1_joint/p: 100.0
 * /gazebo_ros_control/pid_gains/wheel_2_joint/d: 10.0
 * /gazebo_ros_control/pid_gains/wheel_2_joint/i: 0.01
 * /gazebo_ros_control/pid_gains/wheel_2_joint/p: 100.0
 * /gazebo_ros_control/pid_gains/wheel_3_joint/d: 10.0
 * /gazebo_ros_control/pid_gains/wheel_3_joint/i: 0.01
 * /gazebo_ros_control/pid_gains/wheel_3_joint/p: 100.0
 * /gazebo_ros_control/pid_gains/wheel_4_joint/d: 10.0
 * /gazebo_ros_control/pid_gains/wheel_4_joint/i: 0.01
 * /gazebo_ros_control/pid_gains/wheel_4_joint/p: 100.0
 * /joint_state_controller/JointStateController/publish_rate: 50
 * /joint_state_controller/JointStateController/type: joint_state_contr...
 * /robocock/OmniwheelBaseController/joint_name_1: wheel_1_joint
 * /robocock/OmniwheelBaseController/joint_name_2: wheel_2_joint
 * /robocock/OmniwheelBaseController/joint_name_3: wheel_3_joint
 * /robocock/OmniwheelBaseController/joint_name_4: wheel_4_joint
 * /robocock/OmniwheelBaseController/type: robocock/Omniwhee...
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    rqt_gui (rqt_gui/rqt_gui)
    rviz (rviz/rviz)
    spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [115267]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 376f7d30-098f-11ee-aef0-502b73a91884
process[rosout-1]: started with pid [115277]
started core service [/rosout]
process[rqt_gui-2]: started with pid [115284]
process[rviz-3]: started with pid [115286]
process[gazebo-4]: started with pid [115287]
process[gazebo_gui-5]: started with pid [115291]
process[spawn_urdf-6]: started with pid [115297]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ INFO] [1686622121.573196650]: rviz version 1.14.19
[ INFO] [1686622121.573227480]: compiled against Qt version 5.12.8
[ INFO] [1686622121.573240441]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1686622121.581101770]: Forcing OpenGl version 0.
[ INFO] [1686622121.673104340]: Stereo is NOT SUPPORTED
[ INFO] [1686622121.673157230]: OpenGL device: llvmpipe (LLVM 12.0.0, 256 bits)
[ INFO] [1686622121.673178494]: OpenGl version: 3.1 (GLSL 1.4).
[INFO] [1686622121.908382, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1686622121.911232, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1686622121.969165549]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1686622121.970281614]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1686622122.056947137]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1686622122.057811191]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1686622122.297778828, 0.002000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1686622122.311866733, 0.015000000]: Physics dynamic reconfigure ready.
[INFO] [1686622122.518566, 0.213000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1686622122.729160, 0.370000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1686622122.748576508, 0.370000000]: Loading gazebo_ros_control plugin
[ INFO] [1686622122.748668363, 0.370000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1686622122.749523789, 0.370000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1686622122.907524545, 0.370000000]: Loaded gazebo_ros_control.
[spawn_urdf-6] process has finished cleanly
log file: /root/.ros/log/376f7d30-098f-11ee-aef0-502b73a91884/spawn_urdf-6*.log