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You shouldn't have to explicitly install the sensor_msgs package; it should be part of your default ROS install, in the common_msgs stack. You're seeing errors because you have that package installed twice; I recommend you remove the copy that you manually installed.

You can confirm that you still have a valid install by running roscd sensor_msgs and observing that it finds the sensor_msgs package.

When passing the type string to newPublisher, they type is specified with a slash, as sensor_msgs/JointState, not sensor_msgs.JointState