Error in linking robotiq 3f gripper to a UR10

[rolandying]

When I was trying to link the robotiq 3f gripper with a UR10 and show the model in RVIZ, an error happened. This is my .urdf.xacro file

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur10_with_robotiq">
 <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
  <!-- common stuff -->
  <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />

  <!-- include macros for UR10e and Robotiq 3f hand -->
  <xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />

  <xacro:arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
  <xacro:ur10_robot prefix="" joint_limited="false"
    transmission_hw_interface="$(arg transmission_hw_interface)"
    kinematics_file="${load_yaml('$(arg kinematics_config)')}"
  />

  <link name="world" />

  <joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link = "base_link" />
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
  </joint>

  <xacro:include filename="$(find robotiq_ft_sensor)/urdf/robotiq_fts150.urdf.xacro" />
    <xacro:robotiq_fts150  prefix="" parent="tool0">
        <origin xyz="0 0 0" rpy="0 0 0"/> 
  </xacro:robotiq_fts150>

 <xacro:include filename="$(find robotiq_3f_gripper_visualization)/cfg/robotiq-3f-gripper_articulated_macro.xacro" />
    <xacro:robotiq-3f-gripper_articulated prefix=""/>
    <!-- Link to the end of ft150 -->
    <joint name="ft_gripper_joint" type="fixed">
        <parent link="robotiq_ft_frame_id"/>
        <child link="robotiq_3f_base_link"/>
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </joint>

</robot>

The Fts150 shows perfectly, but when I add the robotiq 3f gripper part. The error comes out:

[ WARN] [1631709773.034408765]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
[ERROR] [1631709773.038189068]: link 'tool0' is not unique.
[robot_state_publisher-3] process has died [pid 28323, exit code 1, cmd /opt/ros/melodic/lib/robot_state_publisher/state_publisher __name:=robot_state_publisher __log:=/home/roland/.ros/log/70d8d75e-1622-11ec-8579-e4a7a0562c46/robot_state_publisher-3.log].
log file: /home/roland/.ros/log/70d8d75e-1622-11ec-8579-e4a7a0562c46/robot_state_publisher-3*.log
[WARN] [1631709773.428571]: The 'use_gui' parameter was specified, which is deprecated.  We'll attempt to find and run the GUI, but if this fails you should install the 'joint_state_publisher_gui' package instead and run that.  This backwards compatibility option will be removed in Noetic.
[ERROR] [1631709773.814010918]: link 'tool0' is not unique.

Is there anyone who knows how to handle this? Any replies are welcome!