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The problem appears to be in your launch file based on the error: Could not find parameter robot_description on parameter server [robot_state_publisher-3] process has died This indicates that the robot_state_publisher node is looking for a parameter called robot_description but can't find it. Indeed, you have an arm_description parameter that contains your URDF information, while the robot_state_publisher wiki indicates that it expects that information in robot_description.

One solution is to change <param name="arm_description" ... to <param name="robot_description" ..., and the other option is to remap the parameter name in the robot_state_publisher:

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
    <remap from="/joint_states" to="/arm/joint_states" />
    <remap from="robot_description" to="arm_description" /
</node>

The problem appears to be in your launch file based on the error: Could not find parameter robot_description on parameter server [robot_state_publisher-3] process has died This indicates that the robot_state_publisher node is looking for a parameter called robot_description but can't find it. Indeed, you have an arm_description parameter that contains your URDF information, while the robot_state_publisher wiki indicates that it expects that information in robot_description.

One solution is to change <param name="arm_description" ... to <param name="robot_description" ..., and the other option is to remap the parameter name in the robot_state_publisher:

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
    <remap from="/joint_states" to="/arm/joint_states" />
    <remap from="robot_description" to="arm_description" /
/>
</node>