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I got it! It took me a whole day to figure out why. joint_state_publisher failed to parse the urdf xml file. It dumped error message:

UnicodeEncodeError: 'ascii' codec can't encode character

I used XML copy editor to compile the file. It was wrong. I should use Text Editor to do it. joint_state_publisher doesn't support Unicode xml file. But check_urdf is fine with that.

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