ERROR] [1711879874.764701783]: Failed to build tree: parent link [bluerov2h_origin/base_link] of joint [bluerov2h_origin/camera_joint] not found. This is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint [bluerov2h_origin/camera_joint] from your urdf file, or add "<link name="bluerov2h_origin/base_link" />" to your urdf file.

[robot_state_publisher-7] process has died [pid 158484, exit code 1, cmd /opt/ros/noetic/lib/robot_state_publisher/robot_state_publisher robot_description:=/bluerov2h_origin/robot_description __name:=robot_state_publisher __log:=/home/ubuntu204/.ros/log/c40272ec-ef22-11ee-a7f2-057a2d9a051b/robot_state_publisher-7.log].