解决方案-joint_state_publisher process has died

最新推荐文章于 2024-05-15 10:53:29 发布

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最新推荐文章于 2024-05-15 10:53:29 发布

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分类专栏： ubuntu 文章标签： ubuntu

本文链接：https://blog.youkuaiyun.com/qq_38313901/article/details/120263894

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出错内容：
[joint_state_publisher-2] process has died [pid 20083, exit code 1, cmd /opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/isst/.ros/log/239693d6-1443-11ec-b2ab-0c8268028cc2/joint_state_publisher-2.log].
log file: /home/isst/.ros/log/239693d6-1443-11ec-b2ab-0c8268028cc2/joint_state_publisher-2*.log
在这里插入图片描述
向上查找终端输出信息，如下：

  File "/opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher", line 44, in <module>
    jsp = joint_state_publisher.JointStatePublisher()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/joint_state_publisher/__init__.py", line 161, in __init__
    robot = xml.dom.minidom.parseString(description)
  File "/usr/lib/python2.7/xml/dom/minidom.py", line 1928, in parseString
    return expatbuilder.parseString(string)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 940, in parseString
    return builder.parseString(string)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 223, in parseString
    parser.Parse(string, True)
UnicodeEncodeError: 'ascii' codec can't encode characters in position 605-615: ordinal not in range(128)

可以看出主要出现了非法字符，导致正确解析xacro文件，解决方法如下：
进入/opt/ros/melodic/lib/python2.7/dist-packages/joint_state_publisher文件夹，然后运行：

sudo gedit __init__.py

在该py文件前面添加：

import sys
reload(sys)
sys.setdefaultencoding( "utf-8" )

即可解决。