joint-state-publisher software package provides ROS joint_state_publisher, you can install in your Ubuntu 17.04 (Zesty Zapus) by running the commands given below on the terminal,
$ sudo apt-get update $ sudo apt-get install joint-state-publisher
joint-state-publisher is installed in your system.
Make ensure the joint-state-publisher package were installed using the commands given below,
$ sudo dpkg-query -l | grep joint-state-publisher *
You will get with joint-state-publisher package name, version, architecture and description in a table
| Distro | Ubuntu 17 04 zesty zapus |
| Section | Utilities |
| Package | joint-state-publisher |
| Version | 1.12.5-1build1 |
| Description | ROS joint_state_publisher |
| Sub Section | utils |
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