process has died

编译报错：[ERROR] [1618491729.587751239]: Couldn’t open joystick force feedback! [rubber_joy-2] process has died！

1、错误信息

[ERROR] [1618491729.587751239]: Couldn't open joystick force feedback!
[rubber_joy-2] process has died [pid 23944, exit code -11, cmd /home/zby/rubber_robot/devel/lib/rubber_joy/rubber_joy __name:=rubber_joy __log:=/home/zby/.ros/log/c921c2f0-9dea-11eb-8f60-38dead0710de/rubber_joy-2.log].
log file: /home/zby/.ros/log/c921c2f0-9dea-11eb-8f60-38dead0710de/rubber_joy-2*.log

2、在写一个北通手柄包出现问题

2.1 在写一个北通手柄包，出现上述错误，运行launch文件没错，一推动手柄，即出现上述报错；

2.2 原以为是CMakeLists.txt和package.xml的错误，所以就一直找，一直改这两个文件，费了很大功夫；

2.3 最后发现是C++文件的内部程序问题；

3、在此记录以下，下次遇到此类报错，直接找C++文件的问题

解决问题过程中，也有大佬提到过版本不对，也可能出现此类报错；

4、部分代码

原：

int arm1, arm2, arm3；

n.param<int>("arm1",arm1,arm1);
n.param<int>("arm2",arm2,arm2);
n.param<int>("arm3",arm3,arm3);

arm.force.x = joy->axes[arm1];
arm.force.y = joy->axes[arm2];
arm.force.z = joy->axes[arm3];

改过之后：

arm.force.x = joy->axes[7];
arm.force.y = joy->axes[6];
arm.force.z = joy->axes[4];

正常运行：

auto-starting new master
process[master]: started with pid [30187]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 32d4ab1c-9dec-11eb-8f60-38dead0710de
process[rosout-1]: started with pid [30202]
started core service [/rosout]
process[rubber_joy-2]: started with pid [30212]
process[joy_node-3]: started with pid [30220]

5、原因是自己程序的内部定义问题出错！