error on terminal after launch file:--- [joint_state_publisher-2] process has died [pid 10321, exit code 1, cmd /opt/ros/kinetic/lib/joint_state_publisher_gui/joint_state

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error on terminal after launch file:---

 [joint_state_publisher-2] process has died [pid 10321, exit code 1, cmd /opt/ros/kinetic/lib/joint_state_publisher_gui/joint_state_publisher_gui __name:=joint_state_publisher __log:=/home/sjha/.ros/log/bf46e6b2-ec80-11ec-b354-b0227aebdbb7/joint_state_publisher-2.log].
log file: /home/sjha/.ros/log/bf46e6b2-ec80-11ec-b354-b0227aebdbb7/joint_state_publisher-2*.log

my launch file:-

<launch>

<!-- arguments-->
  <arg 
   name="model" 
   default="$(find ros_tutorial)/urdf/second.xacro"
  />

  <arg 
   name="gui" 
   default="true" 
  />

  <arg 
   name="rvizconfig" 
   default="$(find ros_tutorial)/rviz/urdf.rviz"
  />

  <param 
   name="robot_description" 
   command="$(find xacro)/xacro $(arg model)" 
  />

<!-- nodes -->

  <node 
   if="$(arg gui)" 
   name="joint_state_publisher" 
   pkg="joint_state_publisher_gui" 
   type="joint_state_publisher_gui" 
  />

  <node 
   unless="$(arg gui)" 
   name="joint_state_publisher" 
   pkg="joint_state_publisher" 
   type="joint_state_publisher" 
  />

  <node 
   name="robot_state_publisher" 
   pkg="robot_state_publisher" 
   type="robot_state_publisher" 
  />

  <node 
   name="rviz" 
   pkg="rviz" 
   type="rviz" 
   args="-d $(arg rvizconfig)"
   required="true" 
  />

</launch>