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Joint_state_publisher helps you to simulate movement of nonfixed joints defined in your urdf model. If you run joint_state_publisher gui, you should see in popup window for example continous joints and you can move with them. If you run joint_state_publisher, it looks just like you described above.
If you want to be sure it works, you should see your robot in rviz2 with correctly placed links and joints. :)
Hope it helps
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