Revision history [back]

The way joint state publisher works is different as of Noetic.

Change your launch file to instead read

<?xml version="1.0"?>
<launch>  
    <arg name="model" /> 

    <param name="robot_description" textfile="$(find urdf)/exoskeleton.urdf"/>  
    <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />  
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf)/view_demo_configuration.rviz"/>

</launch>