无效 <param> 标签：无法加载命令参数 [robot_description]

问题描述 投票：0回答：3

我正在使用 ros Kinetic 和 Ubuntu 16.04

我正在尝试运行这个项目，但不在 Docker 容器内运行。

之后，我就完成了

user@user-HP-Pavilion-15-Notebook-PC:~/gym-gazebo/gym_gazebo/envs/installation/catkin_ws$ catkin_make
user@user-HP-Pavilion-15-Notebook-PC:~/gym-gazebo/gym_gazebo/envs/installation$ bash setup_kinetic.bash
user@user-HP-Pavilion-15-Notebook-PC:~/gym-gazebo/gym_gazebo/envs/installation$ bash turtlebot_setup.bash
user@user-HP-Pavilion-15-Notebook-PC:~/gym-gazebo/examples/turtlebot$ python circuit2_turtlebot_lidar_qlearn.py

然后，出现以下错误：

... logging to /home/user/.ros/log/3ac6e572-28a3-11e8-9aba-142d27dccbb5/roslaunch-user-HP-Pavilion-15-Notebook-PC-6853.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://user-HP-Pavilion-15-Notebook-PC:37855/
ros_comm version 1.12.12


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.12

NODES

auto-starting new master
process[master]: started with pid [6864]
ROS_MASTER_URI=http://user-HP-Pavilion-15-Notebook-PC:11311/

setting /run_id to 3ac6e572-28a3-11e8-9aba-142d27dccbb5
process[rosout-1]: started with pid [6884]
started core service [/rosout]
Roscore launched!
Gazebo launched!
... logging to /home/user/.ros/log/3ac6e572-28a3-11e8-9aba-142d27dccbb5/roslaunch-user-HP-Pavilion-15-Notebook-PC-6908.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

while processing /home/user/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/turtlebot_simulator/turtlebot_gazebo/launch/includes/kobuki.launch.xml:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --inorder '/home/user/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro'] returned with code [2]. 

Param xml is <param command="$(arg urdf_file)" name="robot_description"/>
The traceback for the exception was written to the log file

还有kobuki.launch.xml：

<launch>
  <arg name="base" />
  <arg name="stacks" />
  <arg name="3d_sensor" />
  <arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'" />
  <param name="robot_description" command="$(arg urdf_file)" />
  <!-- Gazebo model spawner -->
  <node name="spawn_turtlebot_model" pkg="gazebo_ros" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model mobile_base" />
  <!-- Velocity muxer -->
  <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager" />
  <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml" />
    <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity" />
  </node>
  <!-- Bumper/cliff to pointcloud (not working, as it needs sensors/core messages) -->
  <include file="$(find turtlebot_bringup)/launch/includes/kobuki/bumper2pc.launch.xml" />
</launch>

这是我跑步后得到的结果

xacro --inorder /home/user/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro

option --inorder not recognized
Usage: xacro.py [-o <output>] <input>
       xacro.py --deps       Prints dependencies
       xacro.py --includes   Only evalutes includes

我对 ROS 还很陌生。我错过了什么吗？

ros
3个回答
0
投票

您从 Xacro 获取的错误实际上来自 ROS Indigo 中最常用的 

--inorder
标签（据我所知），我认为您在 ROS Kinetic 中不需要它（但我不确定，因为我我自己仍然使用 Indigo）我建议您在没有 
--inorder
参数的情况下尝试一下，如果您遇到问题，请尝试将其替换为 
-i
，正如他们的 Github

中的 xacro 变更日志中所述
0
投票
source /opt/ros/kinetic/setup.bash

上面的命令为我解决了这个问题。

0
投票

错误提示无法从

加载命令参数 [robot_description] 
/opt/ros/kinetic/lib/xacro/xacro --inorder '/home/user/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro'

您看到的问题是由于 

xacro file
命令行中的单引号字符造成的。第 6 行是参数名称指定为 
robot description
的地方，并且由于单引号的原因，在上一行中尚未正确读取 
urdf
路径，因此它没有被加载。为了加载文件，请删除第 5 行中的单引号。

更改第 5 行，即

<arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'" />

以下

<arg name="urdf_file" default="$(find xacro)/xacro --inorder $(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro" />


xml
文件应如下所示

<launch>
<arg name="base" />
<arg name="stacks" />
<arg name="3d_sensor" />
<arg name="urdf_file" default="$(find xacro)/xacro --inorder $(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro" />
<param name="robot_description" command="$(arg urdf_file)" />
<!-- Gazebo model spawner -->
<node name="spawn_turtlebot_model" pkg="gazebo_ros" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model mobile_base" />
<!-- Velocity muxer -->
<node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager" />
<node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
  <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml" />
  <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity" />
</node>
<!-- Bumper/cliff to pointcloud (not working, as it needs sensors/core messages) -->
<include file="$(find turtlebot_bringup)/launch/includes/kobuki/bumper2pc.launch.xml" />
</launch>
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