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The error is this:

[ERROR] [1589084721.726199477]: Exception thrown while initializing controller 'mobile_base_controller'.

Could not find resource 'Joint1' in 'hardware_interface::VelocityJointInterface'.

Note how it says: cannot find Joint1.

Your config file contains this (I've removed irrelevant lines):

hardware_interface:
   joints:
      - joint1
      - joint2

[..]

position_trajectory_controller:
   joints:
      - joint1
      - joint2

[..]

joint1_position_controller:
   joint: joint1
joint2_position_controller:
   joint: joint2

[..]

joint_position_controller:
   joints:
     - joint1
     - joint2

but then suddenly:

mobile_base_controller:
  left_wheel  : 'Joint1'
  right_wheel : 'Joint2'

It's likely the joints are actually called joint1 and joint2, not Joint1 and Joint2 (note the uppercase J).

The error is this:

[ERROR] [1589084721.726199477]: Exception thrown while initializing controller 'mobile_base_controller'.

Could not find resource 'Joint1' in 'hardware_interface::VelocityJointInterface'.

Note how it says: cannot find Joint1.

Your config file contains this (I've removed irrelevant lines):

but then suddenly:

It's likely the joints are actually called joint1 and joint2, not Joint1 and Joint2 (note the uppercase J).