ROS中 ERROR: cannot launch node of type [joint_state_publisher/joint_state_publisher]；和No transform

问题如下1：

ERROR: cannot launch node of type [joint_state_publisher/joint_state_publisher]: joint_state_publisher
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/fulei/ares/src
ROS path [2]=/opt/ros/melodic/share

问题原因
原因是缺少依赖包robot_state_publisher和joint_state_publisher

解决方法
我的是ubuntu18.04，ros版本为melodic
ubuntu20.04 修改为noetic

终端输入：
sudo apt-get install ros-melodic-robot-state-publisher
sudo apt-get install ros-melodic-joint-state-publisher
sudo apt-get install ros-kinetic-joint-state-publisher-gui（添加控制关节运动的节点）

<launch>
    <!--1.在参数服务器载入 urdf 文件