oracle error 6 initializing sql*plus (设置ORACLE_HOME环境变量)

本文介绍如何在Windows XP和Unix/Linux系统中设置Oracle环境变量ORACLE_HOME。通过详细步骤指导用户完成配置,确保Oracle软件能够正常运行。

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ORACLE_HOME子目录是安装Oralce软件的位置,还需要在计算机上设置一个环境变量ORACLE_HOME,指定该目录。

1. 在Windows XP中设置环境变量

要在Windows XP中设置环境变量,需要执行下列步骤:

(1) 打开Control Panel。

(2) 双击System,显示出System Properties对话框。

(3) 选择Advanced标签。

(4) 单击Environment Variables按钮,显示出Environment Variables对话框。

(5) 在System Variables区域(对话框的下部窗格),单击New按钮。

(6) 设置变量名为ORACLE_HOME,设置值为您的ORACLE_HOME目录。(在我的Windows XP机器上,ORACLE_HOME被设置为E:\oracle_11g\product\11.1.0\db1)。

2. 在Unix或Linux中设置环境变量

在Unix或Linux中设置环境变量,需要在一个特定文件中添加行,需要更改的文件取决于所使用的shell。如果使用的shell是Bourne、Korn或Bash,则需要将类似于下面的代码行添加到.profile(使用的shell是Bourne或Korn时)或.bash_profile(使用的shell是Bash时)文件中:

ORACLE_HOME=/u01/app/oracle/product/11.1.0/db_1
export ORACLE_HOME
注意:

需要用正确的ORACLE_HOME安装目录替换上面给出的目录。

如果使用的是C shell,则需将下面的代码行添加到.login文件中:

setenv ORACLE_HOME /u01/app/oracle/product/11.1.0/db_1



原文转载:http://hi.baidu.com/freegoodman/item/638dadea27c135d9eb34c915

yuan@yuan-virtual-machine:~/catkin_ws$ roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.1.120 ... logging to /home/yuan/.ros/log/a5368822-6eb4-11f0-afbe-05d467d6740f/roslaunch-yuan-virtual-machine-9380.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://yuan-virtual-machine:37881/ SUMMARY ======== PARAMETERS * /controller_stopper/consistent_controllers: ['joint_state_con... * /force_torque_sensor_controller/publish_rate: 125 * /force_torque_sensor_controller/type: force_torque_sens... * /forward_cartesian_traj_controller/joints: ['shoulder_pan_jo... * /forward_cartesian_traj_controller/type: pass_through_cont... * /forward_joint_traj_controller/joints: ['shoulder_pan_jo... * /forward_joint_traj_controller/type: pass_through_cont... * /hardware_control_loop/loop_hz: 125 * /joint_based_cartesian_traj_controller/base: base * /joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo... * /joint_based_cartesian_traj_controller/tip: tool0 * /joint_based_cartesian_traj_controller/type: position_controll... * /joint_group_vel_controller/joints: ['shoulder_pan_jo... * /joint_group_vel_controller/type: velocity_controll... * /joint_state_controller/publish_rate: 125 * /joint_state_controller/type: joint_state_contr... * /pos_joint_traj_controller/action_monitor_rate: 20 * /pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/goal_time: 0.6 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2 * /pos_joint_traj_controller/joints: ['shoulder_pan_jo... * /pos_joint_traj_controller/state_publish_rate: 125 * /pos_joint_traj_controller/stop_trajectory_duration: 0.5 * /pos_joint_traj_controller/type: position_controll... * /pose_based_cartesian_traj_controller/base: base * /pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo... * /pose_based_cartesian_traj_controller/tip: tool0_controller * /pose_based_cartesian_traj_controller/type: pose_controllers/... * /robot_description: <?xml version="1.... * /robot_status_controller/handle_name: industrial_robot_... * /robot_status_controller/publish_rate: 10 * /robot_status_controller/type: industrial_robot_... * /rosdistro: noetic * /rosversion: 1.17.4 * /scaled_pos_joint_traj_controller/action_monitor_rate: 20 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/goal_time: 0.6 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo... * /scaled_pos_joint_traj_controller/state_publish_rate: 125 * /scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5 * /scaled_pos_joint_traj_controller/type: position_controll... * /scaled_vel_joint_traj_controller/action_monitor_rate: 20 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/goal_time: 0.6 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0 * /scaled_vel_joint_traj_controller/joints: ['shoulder_pan_jo... * /scaled_vel_joint_traj_controller/state_publish_rate: 125 * /scaled_vel_joint_traj_controller/stop_trajectory_duration: 0.5 * /scaled_vel_joint_traj_controller/type: velocity_controll... * /scaled_vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0 * /speed_scaling_state_controller/publish_rate: 125 * /speed_scaling_state_controller/type: scaled_controller... * /twist_controller/frame_id: tool0_controller * /twist_controller/joints: ['shoulder_pan_jo... * /twist_controller/publish_rate: 125 * /twist_controller/type: ros_controllers_c... * /ur_hardware_interface/headless_mode: False * /ur_hardware_interface/input_recipe_file: /opt/ros/noetic/s... * /ur_hardware_interface/joints: ['shoulder_pan_jo... * /ur_hardware_interface/kinematics/forearm/pitch: 0 * /ur_hardware_interface/kinematics/forearm/roll: 0 * /ur_hardware_interface/kinematics/forearm/x: -0.425 * /ur_hardware_interface/kinematics/forearm/y: 0 * /ur_hardware_interface/kinematics/forearm/yaw: 0 * /ur_hardware_interface/kinematics/forearm/z: 0 * /ur_hardware_interface/kinematics/hash: calib_20954911754... * /ur_hardware_interface/kinematics/shoulder/pitch: 0 * /ur_hardware_interface/kinematics/shoulder/roll: 0 * /ur_hardware_interface/kinematics/shoulder/x: 0 * /ur_hardware_interface/kinematics/shoulder/y: 0 * /ur_hardware_interface/kinematics/shoulder/yaw: 0 * /ur_hardware_interface/kinematics/shoulder/z: 0.089159 * /ur_hardware_interface/kinematics/upper_arm/pitch: 0 * /ur_hardware_interface/kinematics/upper_arm/roll: 1.570796327 * /ur_hardware_interface/kinematics/upper_arm/x: 0 * /ur_hardware_interface/kinematics/upper_arm/y: 0 * /ur_hardware_interface/kinematics/upper_arm/yaw: 0 * /ur_hardware_interface/kinematics/upper_arm/z: 0 * /ur_hardware_interface/kinematics/wrist_1/pitch: 0 * /ur_hardware_interface/kinematics/wrist_1/roll: 0 * /ur_hardware_interface/kinematics/wrist_1/x: -0.39225 * /ur_hardware_interface/kinematics/wrist_1/y: 0 * /ur_hardware_interface/kinematics/wrist_1/yaw: 0 * /ur_hardware_interface/kinematics/wrist_1/z: 0.10915 * /ur_hardware_interface/kinematics/wrist_2/pitch: 0 * /ur_hardware_interface/kinematics/wrist_2/roll: 1.570796327 * /ur_hardware_interface/kinematics/wrist_2/x: 0 * /ur_hardware_interface/kinematics/wrist_2/y: -0.09465 * /ur_hardware_interface/kinematics/wrist_2/yaw: 0 * /ur_hardware_interface/kinematics/wrist_2/z: -1.94130395089760... * /ur_hardware_interface/kinematics/wrist_3/pitch: 3.141592653589793 * /ur_hardware_interface/kinematics/wrist_3/roll: 1.570796326589793 * /ur_hardware_interface/kinematics/wrist_3/x: 0 * /ur_hardware_interface/kinematics/wrist_3/y: 0.0823 * /ur_hardware_interface/kinematics/wrist_3/yaw: 3.141592653589793 * /ur_hardware_interface/kinematics/wrist_3/z: -1.68800121668117... * /ur_hardware_interface/output_recipe_file: /opt/ros/noetic/s... * /ur_hardware_interface/reverse_ip: * /ur_hardware_interface/reverse_port: 50001 * /ur_hardware_interface/robot_ip: 192.168.1.120 * /ur_hardware_interface/robot_receive_timeout: 0.02 * /ur_hardware_interface/script_command_port: 50004 * /ur_hardware_interface/script_file: /opt/ros/noetic/s... * /ur_hardware_interface/script_sender_port: 50002 * /ur_hardware_interface/servoj_gain: 2000 * /ur_hardware_interface/servoj_lookahead_time: 0.03 * /ur_hardware_interface/tf_prefix: * /ur_hardware_interface/tool_baud_rate: 115200 * /ur_hardware_interface/tool_parity: 0 * /ur_hardware_interface/tool_rx_idle_chars: 1.5 * /ur_hardware_interface/tool_stop_bits: 1 * /ur_hardware_interface/tool_tx_idle_chars: 3.5 * /ur_hardware_interface/tool_voltage: 0 * /ur_hardware_interface/trajectory_port: 50003 * /ur_hardware_interface/use_spline_interpolation: True * /ur_hardware_interface/use_tool_communication: False * /vel_joint_traj_controller/action_monitor_rate: 20 * /vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/goal_time: 0.6 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1 * /vel_joint_traj_controller/gains/elbow_joint/d: 0.1 * /vel_joint_traj_controller/gains/elbow_joint/i: 0.05 * /vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/elbow_joint/p: 5.0 * /vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0 * /vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0 * /vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1 * /vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05 * /vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0 * /vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1 * /vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05 * /vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0 * /vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1 * /vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05 * /vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0 * /vel_joint_traj_controller/joints: ['shoulder_pan_jo... * /vel_joint_traj_controller/state_publish_rate: 125 * /vel_joint_traj_controller/stop_trajectory_duration: 0.5 * /vel_joint_traj_controller/type: velocity_controll... * /vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0 NODES / controller_stopper (ur_robot_driver/controller_stopper_node) robot_state_publisher (robot_state_publisher/robot_state_publisher) ros_control_controller_spawner (controller_manager/spawner) ros_control_stopped_spawner (controller_manager/spawner) ur_hardware_interface (ur_robot_driver/ur_robot_driver_node) /ur_hardware_interface/ ur_robot_state_helper (ur_robot_driver/robot_state_helper) auto-starting new master process[master]: started with pid [9390] ROS_MASTER_URI=http://localhost:11311 setting /run_id to a5368822-6eb4-11f0-afbe-05d467d6740f process[rosout-1]: started with pid [9400] started core service [/rosout] process[robot_state_publisher-2]: started with pid [9407] process[ur_hardware_interface-3]: started with pid [9408] process[ros_control_controller_spawner-4]: started with pid [9409] process[ros_control_stopped_spawner-5]: started with pid [9411] process[controller_stopper-6]: started with pid [9416] [INFO] [1754038260.481594732]: Initializing dashboard client [INFO] [1754038260.487405631]: Connected: Universal Robots Dashboard Server process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [9425] [INFO] [1754038260.506479611]: Waiting for controller manager service to come up on /controller_manager/switch_controller [INFO] [1754038260.508678646]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting... [INFO] [1754038260.510850350]: Initializing urdriver [WARN] [1754038260.515403691]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/real_time.html for details. [INFO] [1754038260.758709]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1754038260.858406]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1754038260.872882426]: Negotiated RTDE protocol version to 2. [INFO] [1754038260.874552649]: Setting up RTDE communication with frequency 125.000000 [INFO] [1754038261.909298599]: Starting primary client pipeline [INFO] [1754038261.911420659]: Checking if calibration data matches connected robot. [ERROR] [1754038262.911943409]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information] for details. [WARN] [1754038262.924839016]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/real_time.html for details. [INFO] [1754038262.926228217]: Loaded ur_robot_driver hardware_interface [INFO] [1754038262.968037918]: waitForService: Service [/controller_manager/switch_controller] is now available. [INFO] [1754038262.968304438]: Service available. [INFO] [1754038262.968342370]: Waiting for controller list service to come up on /controller_manager/list_controllers [INFO] [1754038262.969123410]: Service available. [INFO] [1754038262.977452]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1754038262.980766]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1754038262.983952]: Loading controller: pos_joint_traj_controller [INFO] [1754038263.034800]: Loading controller: joint_group_vel_controller [INFO] [1754038263.049548]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller [INFO] [1754038263.181526427]: Robot mode is now POWER_OFF [INFO] [1754038263.183844862]: Robot's safety mode is now NORMAL [INFO] [1754038263.184011]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1754038263.187691]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1754038263.191352]: Loading controller: joint_state_controller [INFO] [1754038263.209029]: Loading controller: scaled_pos_joint_traj_controller [INFO] [1754038263.257595]: Loading controller: speed_scaling_state_controller [INFO] [1754038263.273802]: Loading controller: force_torque_sensor_controller [INFO] [1754038263.289856]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [INFO] [1754038263.297306]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
最新发布
08-02
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