ros学习（八）： what(): Character [ ] at element [14] is not valid in Graph Resource Name[/an_device/Imu ]

c++源程序

        （注意"/an_device/Imu "，后一个引号后面有一个空格）

    ros::Subscriber sub_imu = nh.subscribe<sensor_msgs::Imu>("/an_device/Imu ", 1, imuHandler);::Subscriber sub_imu = nh.subscribe<sensor_msgs::Imu>("/an_device/Imu ", 1, imuHandler);

程序报错：

        这个报错在程序编译的时候不会出现，运行时会出现

 karto$ rosrun map_builder map_builder_node 
[ INFO] [1642670545.928672938]: waiting for data!
terminate called after throwing an instance of 'ros::InvalidNameException'
  what():  Character [ ] at element [14] is not valid in Graph Resource Name [/an_device/Imu ].  Valid characters are a-z, A-Z, 0-9, / and _.
已放弃 (核心已转储)

原因：

        订阅的话题里面有无效的字符

Character [ ] at element [14] is not valid in Graph Resource Name [/an_device/Imu ].  Valid characters are a-z, A-Z, 0-9, / and _.

##[/an_device/Imu ]这个资源名字的第14个元素是无效的

解决：

        将订阅话题后面的空格删除 

参考：

        下面链接是针对rviz的，但有参考意义

ROS rviz topic报错Character [ ] at element [xx] is not valid in Graph Resource Name [xx ]_君琴 的博客-CSDN博客https://blog.csdn.net/weixin_44436677/article/details/105104219

@meng