ROS已安装joint_state_publisher_gui 仍然报错 process has died

跟随赵虚左的ROS网课进行仿真
joint案例之控制关节运动
但是在运行roslaunch文件，却迟迟不能出现下图所示的图形化窗口
（已经安装joint_state_publisher_gui，urdf中也没有中文注释）

根据这篇博客的提示，rviz和tf树报错修改
仔细查看报错信息，提示我缺失pyqt5 和 pyside2 两个包

Traceback (most recent call last):
  File "/opt/ros/melodic/lib/joint_state_publisher_gui/joint_state_publisher_gui", line 41, in <module>
    from python_qt_binding.QtWidgets import QApplication
  File "/opt/ros/melodic/lib/python2.7/dist-packages/python_qt_binding/__init__.py", line 55, in <module>
    from .binding_helper import loadUi, QT_BINDING, QT_BINDING_MODULES, QT_BINDING_VERSION  # @UnusedImport
  File "/opt/ros/melodic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 274, in <module>
    _select_qt_binding(
  File "/opt/ros/melodic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 118, in _select_qt_binding
    raise ImportError(
ImportError: Could not find Qt binding (looked for: 'pyqt', 'pyside'):
  ImportError for 'pyqt': No module named 'PyQt5'
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 108, in _select_qt_binding
    QT_BINDING_VERSION = binding_loader(required_modules, optional_modules)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 153, in _load_pyqt
    _named_import('PyQt5.%s' % module_name)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 133, in _named_import
    module = builtins.__import__(name)
ModuleNotFoundError: No module named 'PyQt5'

  ImportError for 'pyside': No module named 'PySide2'
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 108, in _select_qt_binding
    QT_BINDING_VERSION = binding_loader(required_modules, optional_modules)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 185, in _load_pyside
    _named_import('PySide2.%s' % module_name)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 133, in _named_import
    module = builtins.__import__(name)
ModuleNotFoundError: No module named 'PySide2'

在终端pip install pyqt5 和pip install pyside2，即可解决问题
重新运行 roslaunch，结果如下：

另外，在launch文件中，要用joint_state_publisher_gui去替代joint_state_publisher （注释掉），否则在gui中控制旋转的过程中，被控制物体会有闪烁（卡顿）

    <!-- 关节状态发布节点
    <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher"/> -->

    <!--机器人状态发布节点-->
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/>

    <!--可选：用于控制关节运动的节点，会生成关节控制的UI，用于测试关节运动是否正常-->
    <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui"/>