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Hi, you need to clone the lesson_urdf repository https://github.com/olmerg/lesson_urdf into your ros2_ws and install the joint-state-publisher-gui and joint_state_publisher packages with sudo apt-get install. Also make sure you compile your environment with colcon build and source it with source ros2_ws/install/local_setup.bash. If you need a step by step instruction, I've made this video that can help:

https://www.youtube.com/watch?v=IfpzNFKnkH0&feature=youtu.be&ab_channel=TheConstruct