Melodic 使用URDF創建簡單的機器人模型

本人Linux版本：Ubuntu 18.04LTS

ROS版本：Melodic

URDF代碼

<?xml version="1.0" ?>
<robot name="mbot">
    <link name="base_link">
        <visual>
            <origin xyz=" 0 0 0" rpy="0 0 0" />     
            <geometry>
                <cylinder length="0.16" radius="0.20"/>  
            </geometry>
            <material name="yellow">
                <color rgba="1 0.4 0 1"/>      <！--A代表透明度-->           
            </material>
        </visual>
    </link>
</robot>

launch文件

<launch>
    <param name="robot_description" textfile="$(find mbot_description)/urdf/mbot_base.urdf" />

    <!-- 設置GUI參數，顯示關節控制插件 -->
    <param name="use_gui" value="true"/>
    
    <!-- 運行joint_state_publisher節點，發布機器人的關節狀態  -->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
    
    <!-- 運行robot_state_publisher節點，發布tf  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
    
    <!-- 運行rviz可視化界面 -->
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_urdf.rviz" required="true" />
</launch>

 

會有以下報錯

[WARN] [1582867522.390661]: The 'use_gui' parameter was specified, which is deprecated.  We'll attempt to find and run the GUI, but if this fails you should install the 'joint_state_publisher_gui' package instead and run that.  This backwards compatibility option will be removed in Noetic.
[ERROR] [1582867522.392212]: Could not find the GUI, install the 'joint_state_publisher_gui' package
[joint_state_publisher-2] process has died [pid 9056, exit code 1, cmd /opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/vtas/.ros/log/b6cbe59e-59ea-11ea-b2f1-84ef181f5770/joint_state_publisher-2.log].
log file: /home/vtas/.ros/log/b6cbe59e-59ea-11ea-b2f1-84ef181f5770/joint_state_publisher-2*.log

 

主要解決辦法如下：

 

1、joint_state_publisher_gui是剛更新出來的包，需要把之前的joint_state_publisher換成joint_state_publisher_gui

         sudo apt-get install ros-melodic-joint-state-publisher-gui   

         如果是kinetic版本的

　　sudo apt-get install ros-kinetic-joint-state-publisher-gui

2、URDF文件中不能有中文注釋，刪除掉中文注釋；

 

然后再運行就可以成功打開了。

但是還是存在一個warning

[WARN] [1582868994.395547]: The 'use_gui' parameter was specified, which is deprecated.  We'll attempt to find and run the GUI, but if this fails you should install the 'joint_state_publisher_gui' package instead and run that.  This backwards compatibility option will be removed in Noetic.

希望看到的人提供一個解決思路，不勝感激。

 

 

 

二更

編譯后不用再重復添加環境變量source的辦法

例如catkin_ws

在/home 文件夾下按ctrl+h顯示隱藏文件

打開 .bashrc

再最后輸入  source+路徑

source /home/vtas/catkin_ws/devel/setup.bash

之后就沒必要每次都source一下了