Create my own tiago_moveit_config using MoveIt Setup Assistant?

[hjw-1014]

I use ROS 1.14.10, melodic, Ubuntu 18.04.
I wanna create my own tiago_moveit_config using MoveIt Setup Assistant.

I followed the official tutorial to use MoveIt Setup Assistant to do it. What I tried is:

1. Download the tiago_dual_robot folder from here and put it in src folder inside my moveit workspace ws_moveit.
2. run catkin build and source it.
3. run the command roslaunch moveit_setup_assistant setup_assistant.launch to launch MoveIt Setup Assistant
4. load xacro file from my moveit space ws_moveit/src/tiago_dual_robot/tiago_dual_description/robots/tiago_dual.urdf.xacro
5. report error: resource not found: pmb2_descirption. Then I download pmb2_robot from here and put pmb2_robot folder inside tiago_dual_robot folder.
6. run catkin build and source it again.
7. load xacro file from my moveit space ws_moveit/src/tiago_dual_robot/tiago_dual_description/robots/tiago_dual.urdf.xacro,
8. then report: resource not found: tiago_descirption.

I'm confused about why it reports resource not found: tiago_descirption because I use tiago_dual_robot, not tiago_robot, and at the last sentence of the error, it says:
when processing file: /home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_description/urdf/torso/torso_dual.urdf.xacro.
Does it mean sth wrong in torso_dual.urdf.xacro? Or what I did is not the way to create my own tiago_moveit_config? Hope someone can help me out.

The error like this:

ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/huangjiawei/ws_moveit/src/geometric_shapes
ROS path [2]=/home/huangjiawei/ws_moveit/src/moveit/moveit
ROS path [3]=/home/huangjiawei/ws_moveit/src/moveit_msgs
ROS path [4]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/moveit_planners
ROS path [5]=/home/huangjiawei/ws_moveit/src/moveit/moveit_plugins/moveit_plugins
ROS path [6]=/home/huangjiawei/ws_moveit/src/moveit_resources/moveit_resources
ROS path [7]=/home/huangjiawei/ws_moveit/src/moveit_resources/fanuc_description
ROS path [8]=/home/huangjiawei/ws_moveit/src/moveit_resources/fanuc_moveit_config
ROS path [9]=/home/huangjiawei/ws_moveit/src/moveit/moveit_commander
ROS path [10]=/home/huangjiawei/ws_moveit/src/moveit_resources/panda_description
ROS path [11]=/home/huangjiawei/ws_moveit/src/moveit_resources/panda_moveit_config
ROS path [12]=/home/huangjiawei/ws_moveit/src/moveit_resources/pr2_description
ROS path [13]=/home/huangjiawei/ws_moveit/src/moveit/moveit_core
ROS path [14]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/chomp/chomp_motion_planner
ROS path [15]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/chomp/chomp_optimizer_adapter
ROS path [16]=/home/huangjiawei/ws_moveit/src/moveit_resources/prbt_ikfast_manipulator_plugin
ROS path [17]=/home/huangjiawei/ws_moveit/src/moveit_resources/prbt_moveit_config
ROS path [18]=/home/huangjiawei/ws_moveit/src/moveit_resources/prbt_pg70_support
ROS path [19]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/moveit_ros
ROS path [20]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/occupancy_map_monitor
ROS path [21]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/planning
ROS path [22]=/home/huangjiawei/ws_moveit/src/moveit/moveit_plugins/moveit_fake_controller_manager
ROS path [23]=/home/huangjiawei/ws_moveit/src/moveit/moveit_kinematics
ROS path [24]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/ompl
ROS path [25]=/home/huangjiawei/ws_moveit/src/moveit_resources/prbt_support
ROS path [26]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/move_group
ROS path [27]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/manipulation
ROS path [28]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/perception
ROS path [29]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/robot_interaction
ROS path [30]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/warehouse
ROS path [31]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/benchmarks
ROS path [32]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/planning_interface
ROS path [33]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/chomp/chomp_interface
ROS path [34]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/visualization
ROS path [35]=/home/huangjiawei/ws_moveit/src/moveit/moveit_runtime
ROS path [36]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/moveit_servo
ROS path [37]=/home/huangjiawei/ws_moveit/src/moveit/moveit_setup_assistant
ROS path [38]=/home/huangjiawei/ws_moveit/src/moveit/moveit_plugins/moveit_simple_controller_manager
ROS path [39]=/home/huangjiawei/ws_moveit/src/moveit/moveit_plugins/moveit_ros_control_interface
ROS path [40]=/home/huangjiawei/ws_moveit/src/panda_moveit_config
ROS path [41]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/pilz_industrial_motion_planner_testutils
ROS path [42]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/pilz_industrial_motion_planner
ROS path [43]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/pmb2_robot/pmb2_bringup
ROS path [44]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/pmb2_robot/pmb2_controller_configuration
ROS path [45]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/pmb2_robot/pmb2_description
ROS path [46]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/pmb2_robot/pmb2_robot
ROS path [47]=/home/huangjiawei/ws_moveit/src/rviz_visual_tools
ROS path [48]=/home/huangjiawei/ws_moveit/src/moveit_visual_tools
ROS path [49]=/home/huangjiawei/ws_moveit/src/moveit_tutorials
ROS path [50]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_bringup
ROS path [51]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_controller_configuration
ROS path [52]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_description
ROS path [53]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_description_calibration
ROS path [54]=/home/huangjiawei/ws_moveit/src/tiago_dual_moveit_config
ROS path [55]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_robot
ROS path [56]=/opt/ros/melodic/share
when processing file: /home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_description/urdf/torso/torso_dual.urdf.xacro
included from: /home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_description/robots/tiago_dual.urdf.xacro

Thank you so much in advance.