You're reading the documentation for a version of ROS 2 that has reached its EOL (end-of-life), and is no longer officially supported. If you want up-to-date information, please have a look at Iron.

joint_state_controller

The joint_state_controller has been renamed to joint_state_broadcaster in order to differentiate between true controllers and simple data broadcasters.

This package will be removed in ROS H-Turtle. Instead, use package joint_state_broadcaster.

Documentation for joint_state_broadcaster can be found here.