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First of all I have no experience with youbot package but i think you should try to run the nodes you need like this:

$roscore $roslaunch package_name executable_name

for example: (I'm not sure about the package or executable names as I don't have installed youbot stack) $roslaunch youbot_oodl start_youbot_oodl_driver $roslaunch rviz rviz $roslaunch youbot_oodl youbot_joint_state_publisher

First of all I have no experience with youbot package but i think you should try to run the nodes you need like this:

$roscore $roslaunch package_name executable_nameexecutable_name

for example: (I'm not sure about the package or executable names as I don't have installed youbot ~~stack)~~ stack)

$roslaunch youbot_oodl start_youbot_oodl_driver $roslaunch rviz rviz $roslaunch youbot_oodl youbot_joint_state_publisheryoubot_joint_state_publisher