根据nav2中文文档中建立urdf文件，编译的时候报错，求救
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RuntimeError: Signal event received before subprocess transport available.
[INFO] [joint_state_publisher-1]: process started with pid [9550]
[joint_state_publisher-1] [INFO] [1697455391.387972882] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[ERROR] [joint_state_publisher-1]: process[joint_state_publisher-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [joint_state_publisher-1]: sending signal 'SIGTERM' to process[joint_state_publisher-1]
[ERROR] [joint_state_publisher-1]: process has died [pid 9550, exit code -15, cmd '/opt/ros/foxy/lib/joint_state_publisher/joint_state_publisher --ros-args -r __node:=joint_state_publisher'].
