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Another hint especially for Germans or other nationalities with weird letters like ä, ö, ü who came here like me, looking for an answer why their joint_state_publisher dies: If your joint_state_publisher dies in a smiliar way like this:

UnicodeEncodeError: 'ascii' codec can't encode character u'\xf6' in position 59: ordinal not in range(128)

then there might be a problem that you used those Umlaute in your URDF-File. I had the this problem and it took me a while to find it, because check_urdf does not care about those letters and parses just fine, but the joint_state_publisher can't handle our fancy letters.