本人Linux版本：Ubuntu 18.04LTS
ROS版本：Melodic
URDF代碼
launch檔案
會有以下報錯
[WARN] [1582867522.390661]: 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] [1582867522.392212]: Could not find the GUI, install the 'joint_state_publisher_gui'package
[joint_state_publisher-2] process has died [pid 9056, exit code 1, cmd /opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/vtas/.ros/log/b6cbe59e-59ea-11ea-b2f1-84ef181f5770/joint_state_publisher-2.log].
logfile: /home/vtas/.ros/log/b6cbe59e-59ea-11ea-b2f1-84ef181f5770/joint_state_publisher-2*.log
主要解決辦法如下：
1、joint_state_publisher_gui是剛更新出來的包，需要把之前的joint_state_publisher換成joint_state_publisher_gui
sudo apt-get install ros-melodic-joint-state-publisher-gui
如果是kinetic版本的
sudo apt-get install ros-kinetic-joint-state-publisher-gui
2、URDF檔案中不能有中文注釋，删除掉中文注釋；
然後再運作就可以成功打開了。
但是還是存在一個warning
[WARN] [1582868994.395547]: 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.
希望看到的人提供一個解決思路，不勝感激。
二更
編譯後不用再重複添加環境變量source的辦法
例如catkin_ws
在/home 檔案夾下按ctrl+h顯示隐藏檔案
打開 .bashrc
再最後輸入 source+路徑
source /home/vtas/catkin_ws/devel/setup.bash
之後就沒必要每次都source一下了