ImportError: Could not find Qt binding (looked for: 'pyqt', 'pyside')

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I have try the method provided by https://answers.ros.org/question/2640... https://answers.ros.org/question/2579... . But it doesn't work for me The error messages are as follow:

ROS_MASTER_URI=http://localhost:11311

process[joint_state_publisher-1]: started with pid [11007]
process[robot_state_publisher-2]: started with pid [11008]
process[rviz-3]: started with pid [11009]
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher", line 6, in <module>
    from python_qt_binding.QtCore import pyqtSlot
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/__init__.py", line 55, in <module>
    from .binding_helper import loadUi, QT_BINDING, QT_BINDING_MODULES, QT_BINDING_VERSION  # @UnusedImport
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 252, in <module>
    getattr(sys, 'SELECT_QT_BINDING_ORDER', None),
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 98, in _select_qt_binding
    raise ImportError("Could not find Qt binding (looked for: %s):\n%s" % (', '.join(["'%s'" % b for b in binding_order]), '\n'.join(error_msgs)))
ImportError: Could not find Qt binding (looked for: 'pyqt', 'pyside'):
  ImportError for 'pyqt': No module named PyQt5.QtCore
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 89, in _select_qt_binding
    QT_BINDING_VERSION = binding_loader(required_modules, optional_modules)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 131, in _load_pyqt
    _named_import('PyQt5.%s' % module_name)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 111, in _named_import
    module = builtins.__import__(name)
ImportError: No module named PyQt5.QtCore

  ImportError for 'pyside': No module named PySide2.QtCore
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 89, in _select_qt_binding
    QT_BINDING_VERSION = binding_loader(required_modules, optional_modules)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 163, in _load_pyside
    _named_import('PySide2.%s' % module_name)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 111, in _named_import
    module = builtins.__import__(name)
ImportError: No module named PySide2.QtCore

[joint_state_publisher-1] process has died [pid 11007, exit code 1, cmd /opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/zhou/.ros/log/4ea2cb74-f838-11e7-bb46-34de1a812d1a/joint_state_publisher-1.log].
log file: /home/zhou/.ros/log/4ea2cb74-f838-11e7-bb46-34de1a812d1a/joint_state_publisher-1*.log
0x154f0a0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x9de6d0) ): Attempt to set a screen on a child window.
0x155b1a0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x9de6d0) ): Attempt to set a screen on a child window.
0x154e410 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x9de6d0) ): Attempt to set a screen on a child window.
0x1550310 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x9de6d0) ): Attempt to set a screen on a child window.