Mastering ROS for Robotics Programming, view_arm.launch, Xacro 报错

最新推荐文章于 2023-04-18 00:41:44 发布

翻译最新推荐文章于 2023-04-18 00:41:44 发布 · 1k 阅读

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原文链接：https://answers.ros.org/question/242044/book-mastering-ros-for-robotics-programming-2nd-edn-chapter-2-working-with-3d-robot-modeling-in-ros/?answer=243354#post-id-243354

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本文详细记录了在使用ROS的MRRP书中例程时遇到的xacro与URDF相关问题及其解决方案。主要问题包括未知宏名、命名空间定义不一致等，并提供了在Xacro中修改和屏蔽特定部分的解决办法。

书MRRP中例程，roslaunch mastering_ros_robot_description_pkg view_arm.launch, xacro报错

seven_dof_arm.xacro launch 出现错误，

unknown macro name: xacro:base None None

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
inconsistent namespace redefinitions for xmlns:xacro:
 old: http://www.ros.org/wiki/xacro
 new: http://ros.org/wiki/xacro (/home/xue/catkin_ws/src/mastering_ros_robot_description_pkg/urdf/sensors/xtion_pro_live.urdf.xacro)
unknown macro name: xacro:base None None
when processing file: /home/xue/catkin_ws/src/mastering_ros_robot_description_pkg/urdf/seven_dof_arm.xacro
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/share/xacro/xacro.py /home/xue/catkin_ws/src/mastering_ros_robot_description_pkg/urdf/seven_dof_arm.xacro] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro.py $(find mastering_ros_robot_description_pkg)/urdf/seven_dof_arm.xacro" name="robot_description"/>
The traceback for the exception was written to the log file

在Xacro中修改，屏蔽xacro:base,OK.

Maybe I know your problem. According to your terminal's warning informations, I think you use the distribution of ROS is Jade or Kinetic, and the problem is just on the distribution of ROS.

转自：

https://answers.ros.org/question/242044/book-mastering-ros-for-robotics-programming-2nd-edn-chapter-2-working-with-3d-robot-modeling-in-ros/?answer=243354#post-id-243354