Tried to use ROS-Kinetic in Docker Container and then I got Errors

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Hi, I am newbie to ROS, Docker and Ubuntu (wow too beginner lol).

I want to use ROS and the simulator Gazebo for testing my algorithms, but I got Errors shown below when I tried to do "roslaunch" command after I prepared a ros pkg called simple_arm_1 and rviz.launch file.

ERROR: cannot launch node of type [joint_state_publisher/joint_state_publisher]: joint_state_publisher
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share
ERROR: cannot launch node of type [robot_state_publisher/robot_state_publisher]: robot_state_publisher
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share
ERROR: cannot launch node of type [rviz/rviz]: rviz
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share
No processes to monitor
shutting down processing monitor...
... shutting down processing monitor complete

Please help me get over this problem.

First of all, I should tell you my development condition, I use

・Ubuntu 18.04 -- as host OS, I know ROS ver older than Lunar doesn't support this ver of Ubuntu

・Docker 17.12.1-ce -- to use Ubuntu 16.04 and ROS Kinetic on a docker container

Yes, I try to use ROS on a docker container. Maybe a silly choice for a beginner like me.

However, I got some error after I did ----------

$ docker pull ros:kinetic   

$ docker run -it ros:kinetic

---and in that container I started

$ roscore

-- opend another terminal and did below to get into the container I just started

$ docker ps -l (to get the running container's id) 

$ docker exec -it  [the running container's id I just got] bash (and I am now in the same container I started before)

--- in the container I did

$ apt-get update 

$ apt-get install vim

$ mkdir catkin_ws

$ cd catkin_ws

$ mkdir src

$ cd src

$ catkin_create_pkg simple_arm_1

$ cd ..

$ catkin_make 

$ source devel/setup.bash

$ roscd simple_arm_1

$ mkdir urdf launch

$ cd urdf

$ vim simple_arm.urdf

--- I wrote those code shown in the link below in the file

https://github.com/embodmt/Gazebo_ROS...

-- after that I did

$ cd ..

$ cd launch

$ vim rviz.launch

--- I wrote those code shown in the link below in the file

https://github.com/embodmt/Gazebo_ROS...

--- now I am ready to get into the part in where I got errors, I did

$ roslaunch simple_arm_1 rviz.launch

--- and errors appeard

ERROR: cannot launch node of type [joint_state_publisher/joint_state_publisher]: joint_state_publisher
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share
ERROR: cannot launch node of type [robot_state_publisher/robot_state_publisher]: robot_state_publisher
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share
ERROR: cannot launch node of type [rviz/rviz]: rviz
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share
No processes to monitor
shutting down processing monitor...
... shutting down processing monitor complete

---------- that ... (more)