[ROS]突然roscore 有问题以及对应的解决方法

报错问题如下：

pf@pf-NUC12WSKi7:~$ roscore
... logging to /home/pf/.ros/log/1526fe5c-5696-11ee-80c2-f9e0ecc8fde9/roslaunch-pf-NUC12WSKi7-7925.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://pf-NUC12WSKi7:40703/
ros_comm version 1.16.0


SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES

auto-starting new master
process[master]: started with pid [7948]
ROS_MASTER_URI=http://pf-NUC12WSKi7:11311/

setting /run_id to 1526fe5c-5696-11ee-80c2-f9e0ecc8fde9
/opt/ros/noetic/lib/rosout/rosout: error while loading shared libraries: libroscpp.so: cannot open shared object file: No such file or directory
failed to start local process: /opt/ros/noetic/lib/rosout/rosout __name:=rosout __log:=/home/pf/.ros/log/1526fe5c-5696-11ee-80c2-f9e0ecc8fde9/rosout-1.log
local launch of rosout/rosout failed
RLException: failed to start core service [/rosout]
The traceback for the exception was written to the log file
[rosout-1] killing on exit
[master] killing on exit

解决方法：

pf@pf-NUC12WSKi7:/etc$ sudo gedit ld.so.conf
直接添加进去/opt/ros/noetic/lib
然后使用：
sudo ldconfig 即可

类似这样的都可以这样做

https://blog.youkuaiyun.com/u013250861/article/details/127892746

ros运行可视化时出现坐标系固定的问题
固定即可

   rostopic echo /cloud | grep frame_id