No obiects in the world

Hi, I am new to ros and gazebo. When I run this command 
"   roslaunch cob_gazebo_worlds world.launch robot_env:="ipa-apartment"   "
I can only see a world with walls. It is not as it shows on the web http://wiki.ros.org/cob_gazebo_worlds, no objects, like bed or cabinet, in the world.
so can you give me some advice? 
My runtime environment is Gazebo 9.0,Ros melodic.
After run the command "roslaunch cob_gazebo_worlds world.launch robot_env:="ipa-apartment" ",I got the message below

➜  new_catkin roslaunch cob_gazebo_worlds world.launch robot_env:="ipa-apartment"
... logging to /home/tridolly/.ros/log/d1ebbec0-a5fc-11ec-858c-04d9f583abc4/roslaunch-ubuntu18-10830.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://ubuntu18:34401/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /objects/basmati_rice/model: cob_gazebo_object...
 * /objects/basmati_rice/orientation: [0, -1.570796, 3.5]
 * /objects/basmati_rice/position: [1.9, -1.6, 0.8]
 * /objects/bed/model: cob_gazebo_object...
 * /objects/bed/orientation: [0, 0, 0]
 * /objects/bed/position: [-7.52, 11.84, 0.0]
 * /objects/blanket_colored/model: cob_gazebo_object...
 * /objects/blanket_colored/orientation: [0, 0, 1.570796327]
 * /objects/blanket_colored/position: [-9.59, 11.62, 0.65]
 * /objects/book_emancipation/model: cob_gazebo_object...
 * /objects/book_emancipation/orientation: [4.2, -1.570796, 0]
 * /objects/book_emancipation/position: [-7.12, 5.38, 0.84]
 * /objects/book_gardening/model: cob_gazebo_object...
 * /objects/book_gardening/orientation: [0, 0, 3.141592654]
 * /objects/book_gardening/position: [-9.449, 11.545, ...
 * /objects/book_heilkrauter/model: cob_gazebo_object...
 * /objects/book_heilkrauter/orientation: [0, -1.570796, 3....
 * /objects/book_heilkrauter/position: [-9.305, 11.54, 0...
 * /objects/book_journal_brown/model: cob_gazebo_object...
 * /objects/book_journal_brown/orientation: [0, -1.570796, -1...
 * /objects/book_journal_brown/position: [-9.03, 13.69, 0.81]
 * /objects/book_pferdewitze/model: cob_gazebo_object...
 * /objects/book_pferdewitze/orientation: [0, -1.570796, 3....
 * /objects/book_pferdewitze/position: [-9.31, 11.54, 0.92]
 * /objects/book_romantiker/model: cob_gazebo_object...
 * /objects/book_romantiker/orientation: [0, 0, 3.141592654]
 * /objects/book_romantiker/position: [-9.51, 11.54, 1]
 * /objects/book_set_buecherschau/model: cob_gazebo_object...
 * /objects/book_set_buecherschau/orientation: [0, 0, -2.35619449]
 * /objects/book_set_buecherschau/position: [-8.27, 2.81, 0.98]
 * /objects/bookcase/model: cob_gazebo_object...
 * /objects/bookcase/orientation: [0, 0, 0]
 * /objects/bookcase/position: [3.95, -1.8, 0]
 * /objects/box_wicker/model: cob_gazebo_object...
 * /objects/box_wicker/orientation: [0, 0, 0]
 * /objects/box_wicker/position: [-9.695, 11.65, 0...
 * /objects/box_wood/model: cob_gazebo_object...
 * /objects/box_wood/orientation: [0, 0, -1.570796327]
 * /objects/box_wood/position: [-8.7, 13.71, 0.852]
 * /objects/cabinet/model: cob_gazebo_object...
 * /objects/cabinet/orientation: [0, 0, 0]
 * /objects/cabinet/position: [0, 1.35, 0]
 * /objects/cabinet_diamondback/model: cob_gazebo_object...
 * /objects/cabinet_diamondback/orientation: [0, 0, -1.570796327]
 * /objects/cabinet_diamondback/position: [-0.6, 1.47, 0.0]
 * /objects/cabinet_ikea_galant/model: cob_gazebo_object...
 * /objects/cabinet_ikea_galant/orientation: [0, 0, 0]
 * /objects/cabinet_ikea_galant/position: [1.3, 1.38, 0.0]
 * /objects/cabinet_ikea_malm_big/model: cob_gazebo_object...
 * /objects/cabinet_ikea_malm_big/orientation: [0, 0, 3.141592654]
 * /objects/cabinet_ikea_malm_big/position: [-8.77, 13.64, 0.0]
 * /objects/cabinet_ikea_malm_small/model: cob_gazebo_object...
 * /objects/cabinet_ikea_malm_small/orientation: [0, 0, -1.570796327]
 * /objects/cabinet_ikea_malm_small/position: [-6.76, 12.53, 0.0]
 * /objects/cabinet_living_room/model: cob_gazebo_object...
 * /objects/cabinet_living_room/orientation: [0, 0, 0]
 * /objects/cabinet_living_room/position: [-7.65, 5.44, 0.0]
 * /objects/candle_thick/model: cob_gazebo_object...
 * /objects/candle_thick/orientation: [0, 0, 0.785398164]
 * /objects/candle_thick/position: [-3.43, 2.55, 0.655]
 * /objects/candle_thick_holder/model: cob_gazebo_object...
 * /objects/candle_thick_holder/orientation: [0, 0, 0.785398164]
 * /objects/candle_thick_holder/position: [-3.43, 2.55, 0.45]
 * /objects/candle_thin/model: cob_gazebo_object...
 * /objects/candle_thin/orientation: [0, 0, 3.141592654]
 * /objects/candle_thin/position: [-8.0, 5.4, 0.82]
 * /objects/cb_9x6/model: cob_gazebo_object...
 * /objects/cb_9x6/orientation: [1.56, 0, 1.56]
 * /objects/cb_9x6/position: [-0.7, -0.1, 1]
 * /objects/chair_ikea_borje/model: cob_gazebo_object...
 * /objects/chair_ikea_borje/orientation: [0, 0, 0]
 * /objects/chair_ikea_borje/position: [1.5, -0.8, 0.0]
 * /objects/chair_ikea_borje2/model: cob_gazebo_object...
 * /objects/chair_ikea_borje2/orientation: [0, 0, 3.141592654]
 * /objects/chair_ikea_borje2/position: [1.5, -2, 0.0]
 * /objects/chair_wicker/model: cob_gazebo_object...
 * /objects/chair_wicker/orientation: [0, 0, 0.45]
 * /objects/chair_wicker/position: [-10.25, 13.24, 0.0]
 * /objects/clock_living_room/model: cob_gazebo_object...
 * /objects/clock_living_room/orientation: [0, 0, 0]
 * /objects/clock_living_room/position: [-9.05, 5.16, 1.0]
 * /objects/corn_flakes_package/model: cob_gazebo_object...
 * /objects/corn_flakes_package/orientation: [0, 0, 0.4]
 * /objects/corn_flakes_package/position: [-1.55, -0.51, 1.05]
 * /objects/couch/model: cob_gazebo_object...
 * /objects/couch/orientation: [0, 0, -1.57079]
 * /objects/couch/position: [3.6, 0.6, 0]
 * /objects/couch2/model: cob_gazebo_object...
 * /objects/couch2/orientation: [0, 0, -0.785398164]
 * /objects/couch2/position: [-4.72, 3.22, 0]
 * /objects/green_tea/model: cob_gazebo_object...
 * /objects/green_tea/orientation: [0, 1.570796, 0.9]
 * /objects/green_tea/position: [1.5, -1.3, 0.8]
 * /objects/kitekat/model: cob_gazebo_object...
 * /objects/kitekat/orientation: [0, 0, 3.141592654]
 * /objects/kitekat/position: [-1.85, -0.3, 1]
 * /objects/lamp_ikea_arstid/model: cob_gazebo_object...
 * /objects/lamp_ikea_arstid/orientation: [0, 0, 0]
 * /objects/lamp_ikea_arstid/position: [-6.76, 12.53, 0.55]
 * /objects/medicine_panodil/model: cob_gazebo_object...
 * /objects/medicine_panodil/orientation: [0, 0, -1.570796327]
 * /objects/medicine_panodil/position: [-8.44, 13.45, 0.78]
 * /objects/medicine_prospan/model: cob_gazebo_object...
 * /objects/medicine_prospan/orientation: [0, 0, 0]
 * /objects/medicine_prospan/position: [-6.91, 12.66, 0.61]
 * /objects/milk/model: cob_gazebo_object...
 * /objects/milk/orientation: [0, 0, 0]
 * /objects/milk/position: [-1.4, -0.5, 0.9]
 * /objects/orange_juice_hohesc/model: cob_gazebo_object...
 * /objects/orange_juice_hohesc/orientation: [0, 1.570796, 0]
 * /objects/orange_juice_hohesc/position: [1.3, -1.3, 0.8]
 * /objects/picture_bodegon/model: cob_gazebo_object...
 * /objects/picture_bodegon/orientation: [0, 0, 0]
 * /objects/picture_bodegon/position: [-7.7, 11.31, 1.7]
 * /objects/picture_family/model: cob_gazebo_object...
 * /objects/picture_family/orientation: [0, 0, 1.570796327]
 * /objects/picture_family/position: [-9.11, 11.6, 0.87]
 * /objects/plant_floor_big/model: cob_gazebo_object...
 * /objects/plant_floor_big/orientation: [0, 0, 0]
 * /objects/plant_floor_big/position: [-6.5, 5.26, 0.0]
 * /objects/plant_floor_small/model: cob_gazebo_object...
 * /objects/plant_floor_small/orientation: [0, 0, 0]
 * /objects/plant_floor_small/position: [-6.1, 4.86, 0.0]
 * /objects/plant_flower_white/model: cob_gazebo_object...
 * /objects/plant_flower_white/orientation: [0, 0, 0]
 * /objects/plant_flower_white/position: [-8.64, 13.51, 0.78]
 * /objects/plant_pot_purple/model: cob_gazebo_object...
 * /objects/plant_pot_purple/orientation: [0, 0, 0]
 * /objects/plant_pot_purple/position: [-1.85, -0.61, 1.46]
 * /objects/plant_pot_purple2/model: cob_gazebo_object...
 * /objects/plant_pot_purple2/orientation: [0, 0, 0]
 * /objects/plant_pot_purple2/position: [1, 1.85, 0.9]
 * /objects/plant_pot_white/model: cob_gazebo_object...
 * /objects/plant_pot_white/orientation: [0, 0, 3.141592654]
 * /objects/plant_pot_white/position: [3.95, -1.8, 0.85]
 * /objects/plastic_wrap/model: cob_gazebo_object...
 * /objects/plastic_wrap/orientation: [0, 0, 0]
 * /objects/plastic_wrap/position: [-1.85, -1.31, 1.48]
 * /objects/salt/model: cob_gazebo_object...
 * /objects/salt/orientation: [0, 0, 1.570796]
 * /objects/salt/position: [-1.5, -1.0, 0.9]
 * /objects/shelf_white/model: cob_gazebo_object...
 * /objects/shelf_white/orientation: [0, 0, 0.785398164]
 * /objects/shelf_white/position: [-8.05, 2.81, 0]
 * /objects/shelf_white2/model: cob_gazebo_object...
 * /objects/shelf_white2/orientation: [0, 0, 1.570796327]
 * /objects/shelf_white2/position: [-9.42, 11.65, 0]
 * /objects/spaghetti/model: cob_gazebo_object...
 * /objects/spaghetti/orientation: [0, 0, 0]
 * /objects/spaghetti/position: [-1.85, 0.61, 1.49]
 * /objects/table_bedside/model: cob_gazebo_object...
 * /objects/table_bedside/orientation: [0, 0, 0.785398164]
 * /objects/table_bedside/position: [-3.43, 2.55, 0.0]
 * /objects/table_ikea_bjursta/model: cob_gazebo_object...
 * /objects/table_ikea_bjursta/orientation: [0, 0, 1.570796]
 * /objects/table_ikea_bjursta/position: [1.5, -1.4, 0]
 * /objects/table_living_room/model: cob_gazebo_object...
 * /objects/table_living_room/orientation: [0, 0, -2.35619449]
 * /objects/table_living_room/position: [-5.46, 2.51, 0.0]
 * /objects/table_tv/model: cob_gazebo_object...
 * /objects/table_tv/orientation: [0, 0, -0.785398164]
 * /objects/table_tv/position: [-6.695, 1.445, 0.0]
 * /objects/tomato_sauce/model: cob_gazebo_object...
 * /objects/tomato_sauce/orientation: [0, 0, 1.570796]
 * /objects/tomato_sauce/position: [-1.7, -1.1, 0.9]
 * /objects/tomato_soup/model: cob_gazebo_object...
 * /objects/tomato_soup/orientation: [0, 0, 1.570796]
 * /objects/tomato_soup/position: [-1.5, -0.2, 0.9]
 * /objects/tv_samsung/model: cob_gazebo_object...
 * /objects/tv_samsung/orientation: [0, 0, 2.35619449]
 * /objects/tv_samsung/position: [-6.775, 1.365, 0...
 * /objects/zwieback/model: cob_gazebo_object...
 * /objects/zwieback/orientation: [0, 0, 1.570796]
 * /objects/zwieback/position: [-1.5, -0.7, 0.9]
 * /rosdistro: melodic
 * /rosversion: 1.14.9
 * /script_server/base/bookcase: [-0.1, -1.577, -2...
 * /script_server/base/charger: [1.513, -0.375, 1...
 * /script_server/base/entrance: [-0.18, -3.599, 3...
 * /script_server/base/home: [0, 0, 0]
 * /script_server/base/kitchen: [-0.145, -0.581, ...
 * /script_server/base/order: [2.33, -0.298, 0....
 * /use_sim_time: True
 * /world/elevator_button1_joint_position_controller/joint: elevator_button1_...
 * /world/elevator_button1_joint_position_controller/type: position_controll...
 * /world/elevator_button2_joint_position_controller/joint: elevator_button2_...
 * /world/elevator_button2_joint_position_controller/type: position_controll...
 * /world/elevator_left_joint_position_controller/joint: elevator_left_joint
 * /world/elevator_left_joint_position_controller/type: position_controll...
 * /world/elevator_right_joint_position_controller/joint: elevator_right_joint
 * /world/elevator_right_joint_position_controller/type: position_controll...
 * /world/joint_names: ['elevator_left_j...
 * /world/world_joint_state_controller/publish_rate: 50
 * /world/world_joint_state_controller/type: joint_state_contr...
 * /world_description: <?xml version="1....

NODES
  /
    elevator (cob_gazebo_worlds/elevator.py)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    spawn_urdf_world (gazebo_ros/spawn_model)
    world_state_publisher (robot_state_publisher/robot_state_publisher)
    world_tf_publisher (cob_gazebo_worlds/tf_publisher.py)
  /world/
    world_controller_spawner (controller_manager/controller_manager)
    world_joint_state_controller_spawner (controller_manager/controller_manager)

auto-starting new master
process[master]: started with pid [10844]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d1ebbec0-a5fc-11ec-858c-04d9f583abc4
process[rosout-1]: started with pid [10855]
started core service [/rosout]
running rosparam delete /objects
ERROR: parameter [/objects] is not set
process[gazebo-2]: started with pid [10868]
process[gazebo_gui-3]: started with pid [10873]
process[spawn_urdf_world-4]: started with pid [10878]
process[world_state_publisher-5]: started with pid [10879]
process[world/world_joint_state_controller_spawner-6]: started with pid [10880]
process[world_tf_publisher-7]: started with pid [10881]
process[world/world_controller_spawner-8]: started with pid [10886]
process[elevator-9]: started with pid [10889]
[ INFO] [1647526582.986524919]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1647526582.990263353]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1647526583.019913403]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1647526583.022173851]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1647526583.361057200, 0.004000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1647526583.374644488, 0.017000000]: Physics dynamic reconfigure ready.
[INFO] [1647526583.385677, 0.000000]: Loading model XML from ros parameter world_description
[INFO] [1647526583.413529, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1647526583.415257, 0.055000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1647526583.778610, 0.162000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1647526583.794456375, 0.162000000]: Loading gazebo_ros_control plugin
[ INFO] [1647526583.794544605, 0.162000000]: Starting gazebo_ros_control plugin in namespace: world
[ INFO] [1647526583.794945365, 0.162000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/world_description] on the ROS param server.
[ERROR] [1647526583.941263104, 0.162000000]: No p gain specified for pid.  Namespace: /world/gazebo_ros_control/pid_gains/elevator_left_joint
[ERROR] [1647526583.942318961, 0.162000000]: No p gain specified for pid.  Namespace: /world/gazebo_ros_control/pid_gains/elevator_right_joint
[ERROR] [1647526583.943189009, 0.162000000]: No p gain specified for pid.  Namespace: /world/gazebo_ros_control/pid_gains/elevator_button1_joint
[ERROR] [1647526583.943873906, 0.162000000]: No p gain specified for pid.  Namespace: /world/gazebo_ros_control/pid_gains/elevator_button2_joint
[ INFO] [1647526583.948033725, 0.162000000]: Loaded gazebo_ros_control.
[spawn_urdf_world-4] process has finished cleanly
log file: /home/wangchen/.ros/log/d1ebbec0-a5fc-11ec-858c-04d9f583abc4/spawn_urdf_world-4*.log
Loaded 'world_joint_state_controller'
Started ['world_joint_state_controller'] successfully
Loaded 'elevator_left_joint_position_controller'
Loaded 'elevator_right_joint_position_controller'
Loaded 'elevator_button1_joint_position_controller'
Loaded 'elevator_button2_joint_position_controller'
Started ['elevator_left_joint_position_controller'] successfully
Started ['elevator_right_joint_position_controller'] successfully
Started ['elevator_button1_joint_position_controller'] successfully
Started ['elevator_button2_joint_position_controller'] successfully
[world/world_joint_state_controller_spawner-6] process has finished cleanly
log file: /home/tridolly/.ros/log/d1ebbec0-a5fc-11ec-858c-04d9f583abc4/world-world_joint_state_controller_spawner-6*.log
[world/world_controller_spawner-8] process has finished cleanly
log file: /home/tridolly/.ros/log/d1ebbec0-a5fc-11ec-858c-04d9f583abc4/world-world_controller_spawner-8*.log


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No obiects in the world #182

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No obiects in the world #182

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