执行roslaunch pocketsphinx robocup.launch 时提示找不到包的错误。ROS path [0]=/opt/ros/hydro/share/ros

最新推荐文章于 2024-11-27 19:28:01 发布

cao_shenshen

最新推荐文章于 2024-11-27 19:28:01 发布

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本文介绍了在运行ROS语音识别launch文件时遇到的错误及其解决方法，包括路径配置、文件权限设置及缺失包的安装。

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运行launch文件时，老是报以下类型错误：

执行roslaunch pocketsphinx robocup.launch 时提示找不到包的错误。
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 190, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: pocketsphinx
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/opt/ros/hydro/share
ROS path [2]=/opt/ros/hydro/stacks
ROS path [3]=.
[recognizer-2] process has died [pid 11893, exit code 1, cmd /home/ppeix/tutorials/catkin_ws/src/pocketsphinx/nodes/recognizer.py __name:=recognizer __log:=/home/ppeix/.ros/log/ab621940-b099-11e3-9789-002511e7bcff/recognizer-2.log].
log file: /home/ppeix/.ros/log/ab621940-b099-11e3-9789-002511e7bcff/recognizer-2*.log
即问题为：

roslib.load_manifest('pocketsphinx')执行失败

解决办法：
将pocketsphinx拷贝到/opt/ros/hydro/share目录中
还遇到一种情况是，type为.py文件时，文件执行权限有问题导致的。
在使用语音的时候，总是出现
raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: roslang
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/opt/ros/hydro/share
ROS path [2]=/opt/ros/hydro/stacks
[voice_nav-1] process has died [pid 18126, exit code 1, cmd /opt/ros/hydro/share/rbx1/rbx1_speech/voice_nav.py __name:=voice_nav __log:=/home/ppeix/.ros/log/176ed5ba-b0a4-11e3-a814-002511e7bcff/voice_nav-1.log].
log file: /home/ppeix/.ros/log/176ed5ba-b0a4-11e3-a814-002511e7bcff/voice_nav-1*.log
的问题。
1.目录问题。确保在ROS_PACKAGE_PATH路径中可看到。
2.type文件执行权限问题。包括用户相关执行权限。尤其在文件夹拷贝时容易出现此问题。
3.看具体提示，NotFound:roslang。这里的roslang为关键词。
google得出一种情况：add roslang for manifest.xml and package.xml
https://github.com/start-jsk/openhrp3/issues/32