(成功解决)ros的rvize使用oint_state_publisher报错:[joint_state_publisher_gui-5] process has died

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报错内容:

UnicodeEncodeError: ‘ascii’ codec can’t encode characters in position 26-27: ordinal not in range(12
[joint_state_publisher-3] process has died [pid 16033, exit code 1, cmd /opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/khs/.ros/log/e91dad90-9568-11ed-9bd1-98fa9b625fe3/joint_state_publisher-3.log].
log file: /home/khs/.ros/log/e91dad90-9568-11ed-9bd1-98fa9b625fe3/joint_state_publisher-3*.log

原因

关于ROS的riviz使用中joint_state_publisher时,urdf不能出现中文注释,launch可以

解决:

[1]版本号改成自己的版本:我的是melodic

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

[2]然后把urdf文件中的中文注释

我的报错的代码

launch文件

<launch>
    <param name="robot_description" textfile="/home/khs/catkin_1/src/rviz_demo_pkg/urdf/urdf/demo3_joint.urdf"/>
    <node pkg="rviz" type="rviz" name="rviz" args="-d /home/khs/catkin_1/src/rviz_demo_pkg/config/show_mycar.rviz"/>


    <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" />

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
</launch>

urdf文件

<robot name="my_car">
<!--底盘link-->
    <link name="base_link">
      <visual>
           <geometry>
                 <box size="2 5 6"/>
           </geometry>
            <origin xyz="0 0 0" rpy="1.57 0 1.57"/>
              <meterial>
                     <color rgba="0.2 0.6 0.2 " />
              </meterial>
       </visual>
    </link>   
<!--摄像头link-->
    <link name="camera">
      <visual>
          <geometry>
                <box size="0.02 0.05 0.05"/>        
         </geometry>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <meterial>
               <color rgba="0 0 1 0.5"/>
         </meterial>
      </visual>
    </link> 
<!--关节-->
    <joint name="camera_to_base" type="continuous">
    <!--父级link-->
       <parent link="base_link"/>
    <!--子级link-->
         <child link ="camera"/>
    <!--设置偏移量-->
          <origin xyz="0.7 2.5 0" rgba="0 0 0"/>
    <!--设置关节旋转参考的坐标轴-->
         <axis xyz="0 0 1"/>
        </joint>
</robot>