ROS中运行功能包turtle_tf报错

软件配置

操作系统：ubuntu16.04
ROS版本：kinetic
python版本：python2.7、python3.5、python3.8

功能包与例程

参考《ROS机器人开发与实践》第4.2.3节中使用乌龟仿真器的例程turtle_tf，执行命令：

roslaunch turtle_tf turtle_tf_demo.launch

报错

Traceback (most recent call last):
   File "/opt/ros/kinetic/lib/turtle_tf/turtle_tf_broadcaster.py", line 37, in <module>
        import tf   
   File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf/__init__.py", line 28, in <module>
        from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException
   File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_ros/__init__.py", line 38, in <module>     
        from tf2_py import *   
   File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_py/__init__.py", line 38, in <module>