ros-melodic urdf Could not find the GUI, install the ‘joint_state_publisher_gui‘ package

[ WARN] [1728021578.886671189]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
[ WARN] [1728021578.932675711]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[WARN] [1728021579.099473]: 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] [1728021579.101573]: Could not find the GUI, install the 'joint_state_publisher_gui' package
[joint_state_publisher-2] process has died [pid 108314, exit code 1, cmd /opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/chuanmei/.ros/log/d6e4b6aa-8215-11ef-970b-000c2997208d/joint_state_publisher-2.log].
log file: /home/chuanmei/.ros/log/d6e4b6aa-8215-11ef-970b-000c2997208d/joint_state_publisher-2*.log

[ERROR] [1728021579.101573]: Could not find the GUI, install the 'joint_state_publisher_gui' package

 解决办法

melodic版本

sudo apt-get install ros-melodic-joint-state-publisher-gui

kinetic 版本

sudo apt-get install ros-kinetic-joint-state-publisher-gui