Failed to build tree: child link [ired1] of joint [ired1_joint] not found This is what I get when I try to launch my gazebo simulation. It is strange because I have declared all the joints and links:

<link name="color"/>
  <link name="depth"/>
  <iink name="ired1"/>
  <link name="ired2"/>

  <joint name="body_to_camera_mount" type="fixed">
    <parent link="chassis"/>
    <child link="rs200_camera"/>
    <origin xyz=".2 0 0" rpy="0 0 0"/>
  </joint>

  <joint name="color_joint" type="fixed">
    <parent link="rs200_camera"/>
    <child link="color"/>
    <origin xyz="0 -0.046 0.004" rpy="${pi/2} ${pi} ${pi/2}"/>
  </joint>

  <joint name="depth_joint" type="fixed">
    <parent link="rs200_camera"/>
    <child link="depth"/>
    <origin xyz="0 -0.03 0.004" rpy="${pi/2} ${pi} ${pi/2}"/>
  </joint>

  <joint name="ired1_joint" type="fixed">
    <parent link="rs200_camera"/>
    <child link="ired1"/>
    <origin xyz="0 -0.06 0.004" rpy="${pi/2} ${pi} ${pi/2}"/>
  </joint>

  <joint name="ired2_joint" type="fixed">
    <parent link="rs200_camera"/>
    <child link="ired2"/>

    <origin xyz="0 0.01 0.004" rpy="${pi/2} ${pi} ${pi/2}"/>
  </joint>

Can someone spot a problem may be?

The full error message:

[ERROR] [1537878063.001524419]: Failed to build tree: child link [ired1] of joint [ired1_joint] not found
[ INFO] [1537878063.115866218]: Initializing nodelet with 8 worker threads.
[state_publisher-5] process has died [pid 80082, exit code 255, cmd /opt/ros/kinetic/lib/robot_state_publisher/robot_state_publisher __name:=state_publisher __log:=/home/ikhsanov/.ros/log/775a9ee0-c0bd-11e8-9cfd-000c29e39aa6/state_publisher-5.log].
log file: /home/ikhsanov/.ros/log/775a9ee0-c0bd-11e8-9cfd-000c29e39aa6/state_publisher-5*.log