Changed the state_publihser type to the robot_state_publihser type because it is deprecated.

launch/bno055_imu_sim.launch

@@ -22,7 +22,7 @@
     <param name="robot_description"
            command="$(find xacro)/xacro --inorder '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" />
 
-    <node pkg="robot_state_publisher" type="state_publisher" name="bno055_tf_broadcaster">
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="bno055_tf_broadcaster">
       <param name="tf_prefix" type="string" value="/bno055"/>
       <param name="publish_frequency" type="double" value="20.0"/>
     </node>

launch/microstrain_imu_sim.launch

@@ -21,7 +21,7 @@
   <param name="robot_description"
          command="$(find xacro)/xacro --inorder '$(find iri_microstrain_imu_description)/urdf/microstrain_imu_example.xacro'" />
 
-  <node pkg="robot_state_publisher" type="state_publisher" name="microstrain_tf_broadcaster">
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="microstrain_tf_broadcaster">
     <param name="tf_prefix" type="string" value="/microstrain"/>
     <param name="publish_frequency" type="double" value="20.0"/>
   </node>

launch/mpu9250_imu_sim.launch

@@ -22,7 +22,7 @@
     <param name="robot_description"
            command="$(find xacro)/xacro --inorder '$(find iri_mpu9250_imu_description)/urdf/mpu9250_imu_example.xacro'" />
 
-    <node pkg="robot_state_publisher" type="state_publisher" name="mpu9250_tf_broadcaster">
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="mpu9250_tf_broadcaster">
       <param name="tf_prefix" type="string" value="/mpu9250"/>
       <param name="publish_frequency" type="double" value="20.0"/>
     </node>