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The issue is that you need joint_state_publisher downloaded already. From the paragraph preceeding the command you ran:

In these tutorials, we’re going to rely on some tools and launch files from the urdf_tools package. Most notably, joint_state_publisher needs to be downloaded from the Washington University repository, linked to on the joint_state_publisher wiki page. All of the robot models mentioned in this tutorial can be found in the urdf_tutorial package.