ROS2 launch文件运行出错

最新推荐文章于 2025-05-13 16:12:01 发布

差不太多

最新推荐文章于 2025-05-13 16:12:01 发布

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本文链接：https://blog.csdn.net/qq_62512995/article/details/142361625

我在启动小车模型的launch文件，老是报错：

czf@czf-virtual-machine:~/ros2$ ros2 launch ros2car_sim display.launch.xml
[INFO] [launch]: All log files can be found below /home/czf/.ros/log/2024-09-20-14-13-30-719270-czf-virtual-machine-14234
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [xml]:
 - InvalidFrontendLaunchFileError: Caught multiple exceptions when trying to load file of format [xml]:
 - ParseError: unclosed token: line 1, column 0
 - RuntimeError: Expected only one root
 - SyntaxError: invalid syntax (display.launch.xml, line 1)

我的launch文件：

czf@czf-virtual-machine:~/ros2$ cat ~/ros2/src/ros2car_sim/launch/display.launch.xml
<?xml version="1.0" encoding="UTF-8">
<launch xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
        xmlns="http://www.ros2.org/schema/launch">
    <!-- 参数定义 -->
    <arg name="model" default="$(find ros2car_sim)/urdf/car.xacro"/>
    <arg name="rvizconfig" default="$(find ros2car_sim)/rviz/car.rviz"/>

    <!-- 生成机器人描述 -->
    <let name="robot_description" value="$(command 'xacro $(arg model)')"/>

    <!-- 发布机器人状态 -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" executable="robot_state_publisher" output="screen">
        <param name="robot_description" value="$(var robot_description)"/>
    </node>

    <!-- 启动rviz2并加载配置文件以显示机器人 -->
    <node name="rviz2" pkg="rviz2" executable="rviz2" output="screen">
        <param name="config" value="$(arg rvizconfig)"/>
    </node>
</launch>

各位uu看看是怎么回事