nodelet解决Failed to load nodelet问题

最新推荐文章于 2025-05-27 17:05:32 发布

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最新推荐文章于 2025-05-27 17:05:32 发布 · 2w 阅读

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在使用ROS开发过程中，遇到Nodelet加载错误，错误信息显示未能加载类test_nodelet/Talker。原因是XML文档缺少根元素，导致节点加载失败。解决方法是在package.xml文件中添加<export><nodelet plugin="${prefix}/nodelets.xml"/></export>来指定Nodelet的插件描述文件。

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在写nodelet节点时，出现错误：

process[rosout-1]: started with pid [31069]
started core service [/rosout]
process[standalone_nodelet-2]: started with pid [31076]
process[Talker-3]: started with pid [31087]
[ INFO] [1520243608.115028790]: Loading nodelet /Talker of type test_nodelet/Talker to manager standalone_nodelet with the following remappings:
[ INFO] [1520243608.116738700]: waitForService: Service [/standalone_nodelet/load_nodelet] has not been advertised, waiting...
[ERROR] [1520243608.138551375]: Skipping XML Document "/opt/ros/indigo/share/gmapping/nodelet_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing.
[ INFO] [1520243608.154711380]: Initializing nodelet with 4 worker threads.
[ INFO] [1520243608.159394341]: waitForService: Service [/standalone_nodelet/load_nodelet] is now available.
[ERROR] [1520243608.200148077]: Skipping XML Document "/opt/ros/indigo/share/gmappi