Mara installation errors

Starting >>> mara_gazebo_plugins
--- stderr: mara_gazebo_plugins                                         
/home/nestor/ros2_mara_ws/src/MARA/mara_gazebo_plugins/src/mara_gazebo_joint_plugin.cpp: In member function ‘void gazebo_plugins::MARAGazeboPluginRosPrivate::trajectoryAxis1Callback(trajectory_msgs::msg::JointTrajectory_<std::allocator<void> >::SharedPtr)’:
/home/nestor/ros2_mara_ws/src/MARA/mara_gazebo_plugins/src/mara_gazebo_joint_plugin.cpp:173:113: warning: unused parameter ‘msg’ [-Wunused-parameter]
 void MARAGazeboPluginRosPrivate::trajectoryAxis1Callback(const trajectory_msgs::msg::JointTrajectory::SharedPtr msg)
                                                                                                                 ^~~
/home/nestor/ros2_mara_ws/src/MARA/mara_gazebo_plugins/src/mara_gazebo_joint_plugin.cpp: In member function ‘void gazebo_plugins::MARAGazeboPluginRosPrivate::trajectoryAxis2Callback(trajectory_msgs::msg::JointTrajectory_<std::allocator<void> >::SharedPtr)’:
/home/nestor/ros2_mara_ws/src/MARA/mara_gazebo_plugins/src/mara_gazebo_joint_plugin.cpp:178:113: warning: unused parameter ‘msg’ [-Wunused-parameter]
 void MARAGazeboPluginRosPrivate::trajectoryAxis2Callback(const trajectory_msgs::msg::JointTrajectory::SharedPtr msg)
                                                                                                                 ^~~
---
Finished <<< mara_gazebo_plugins [29.7s]
Starting >>> robotiq_140_gripper_gazebo_plugin
--- stderr: robotiq_140_gripper_gazebo_plugin                                         
In file included from /home/nestor/ros2_mara_ws/src/MARA/robotiq_140_gripper_gazebo_plugins/src/Robotiq140Plugin.cpp:4:0:
/home/nestor/ros2_mara_ws/src/MARA/robotiq_140_gripper_gazebo_plugins/include/robotiq_arg2f_model_articulated_gazebo_plugins/Robotiq140Plugin.h:84:34: warning: ‘constexpr’ needed for in-class initialization of static data member ‘const double gazebo::RobotiqHandPlugin::MinVelocity’ of non-integral type [-fpermissive]
     private: static const double MinVelocity = 0.176;
                                  ^~~~~~~~~~~
/home/nestor/ros2_mara_ws/src/MARA/robotiq_140_gripper_gazebo_plugins/include/robotiq_arg2f_model_articulated_gazebo_plugins/Robotiq140Plugin.h:87:34: warning: ‘constexpr’ needed for in-class initialization of static data member ‘const double gazebo::RobotiqHandPlugin::MaxVelocity’ of non-integral type [-fpermissive]
     private: static const double MaxVelocity = 0.88;
                                  ^~~~~~~~~~~
/home/nestor/ros2_mara_ws/src/MARA/robotiq_140_gripper_gazebo_plugins/include/robotiq_arg2f_model_articulated_gazebo_plugins/Robotiq140Plugin.h:91:34: warning: ‘constexpr’ needed for in-class initialization of static data member ‘const double gazebo::RobotiqHandPlugin::VelTolerance’ of non-integral type [-fpermissive]
     private: static const double VelTolerance = 0.002;
                                  ^~~~~~~~~~~~
/home/nestor/ros2_mara_ws/src/MARA/robotiq_140_gripper_gazebo_plugins/include/robotiq_arg2f_model_articulated_gazebo_plugins/Robotiq140Plugin.h:96:34: warning: ‘constexpr’ needed for in-class initialization of static data member ‘const double gazebo::RobotiqHandPlugin::PoseTolerance’ of non-integral type [-fpermissive]
     private: static const double PoseTolerance = 0.002;
                                  ^~~~~~~~~~~~~
/home/nestor/ros2_mara_ws/src/MARA/robotiq_140_gripper_gazebo_plugins/src/Robotiq140Plugin.cpp: In member function ‘void gazebo::RobotiqHandPlugin::gripper_service(std::shared_ptr<rmw_request_id_t>, std::shared_ptr<std_srvs::srv::Empty_Request_<std::allocator<void> > >, std::shared_ptr<std_srvs::srv::Empty_Response_<std::allocator<void> > >)’:
/home/nestor/ros2_mara_ws/src/MARA/robotiq_140_gripper_gazebo_plugins/src/Robotiq140Plugin.cpp:52:62: warning: unused parameter ‘request’ [-Wunused-parameter]
         const std::shared_ptr<std_srvs::srv::Empty::Request> request,
                                                              ^~~~~~~
/home/nestor/ros2_mara_ws/src/MARA/robotiq_140_gripper_gazebo_plugins/src/Robotiq140Plugin.cpp:53:57: warning: unused parameter ‘response’ [-Wunused-parameter]
         std::shared_ptr<std_srvs::srv::Empty::Response> response)
                                                         ^~~~~~~~
/home/nestor/ros2_mara_ws/src/MARA/robotiq_140_gripper_gazebo_plugins/src/Robotiq140Plugin.cpp: In lambda function:
/home/nestor/ros2_mara_ws/src/MARA/robotiq_140_gripper_gazebo_plugins/src/Robotiq140Plugin.cpp:179:5: warning: no return statement in function returning non-void [-Wreturn-type]
     };
     ^
---
Finished <<< robotiq_140_gripper_gazebo_plugin [21.7s]
Starting >>> gazebo_ros_pkgs
Finished <<< gazebo_ros_pkgs [4.59s]                          
                             
Summary: 48 packages finished [6min 48s]
  2 packages had stderr output: mara_gazebo_plugins robotiq_140_gripper_gazebo_plugin

Error when launching ros2 launch mara_bringup mara_bringup.launch.py

nestor@n-pc:~/ros2_mara_ws$ ros2 launch mara_bringup mara_bringup.launch.py
[INFO] [launch]: process[robot_state_publisher-1]: started with pid [1820]
Initialize urdf model from file: /home/nestor/ros2_mara_ws/install/share/mara_description/urdf/mara_robot_camera_top.urdf
Parsing robot urdf xml string.
Error:   Unable to parse component [-0.0002009,] to a double (while parsing a vector value)
         at line 102 in /home/nestor/ros2_ws/src/ros2/urdfdom/urdf_parser/src/pose.cpp
Error:   Could not parse inertial element for Link [right_outer_finger]
         at line 477 in /home/nestor/ros2_ws/src/ros2/urdfdom/urdf_parser/src/link.cpp
Link table had 1 children
Link base_link had 2 children
Link base had 0 children
Link motor1_link had 1 children
Link motor2_link had 1 children
Link motor3_link had 1 children
Link motor4_link had 1 children
Link motor5_link had 1 children
Link motor6_link had 3 children
Link ee_link had 0 children
Link robotiq_arg2f_base_link had 4 children
Link left_inner_knuckle had 0 children
Link left_outer_knuckle had 1 children
Link left_outer_finger had 1 children
Link left_inner_finger had 0 children
Link right_inner_knuckle had 0 children
Link right_outer_knuckle had 1 children
Link right_outer_finger had 1 children
Link right_inner_finger had 0 children
Link tool0 had 0 children
got segment base
got segment base_link
got segment ee_link
got segment left_inner_finger
got segment left_inner_knuckle
got segment left_outer_finger
got segment left_outer_knuckle
got segment motor1_link
got segment motor2_link
got segment motor3_link
got segment motor4_link
got segment motor5_link
got segment motor6_link
got segment right_inner_finger
got segment right_inner_knuckle
got segment right_outer_finger
got segment right_outer_knuckle
got segment robotiq_arg2f_base_link
got segment table
got segment tool0
got segment world
Adding fixed segment from world to table
Adding fixed segment from table to base_link
Adding fixed segment from base_link to base
Adding moving segment from base_link to motor1_link
Adding moving segment from motor1_link to motor2_link
Adding moving segment from motor2_link to motor3_link
Adding moving segment from motor3_link to motor4_link
Adding moving segment from motor4_link to motor5_link
Adding moving segment from motor5_link to motor6_link
Adding fixed segment from motor6_link to ee_link
Adding fixed segment from motor6_link to robotiq_arg2f_base_link
Adding moving segment from robotiq_arg2f_base_link to left_inner_knuckle
Adding moving segment from robotiq_arg2f_base_link to left_outer_knuckle
Adding moving segment from left_outer_knuckle to left_outer_finger
Adding moving segment from left_outer_finger to left_inner_finger
Adding moving segment from robotiq_arg2f_base_link to right_inner_knuckle
Adding moving segment from robotiq_arg2f_base_link to right_outer_knuckle
Adding moving segment from right_outer_knuckle to right_outer_finger
Adding moving segment from right_outer_finger to right_inner_finger
Adding fixed segment from motor6_link to tool0