（ROS）RLException: [display_mrobot_with_camera.launch] is neither a launch file等一系列错误解决办法

前提：运行$ roslaunch mrobot_description display_mrobot_chassis_urdf.launch 有误

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错误1：rviz直接打不开

错误显示：
RLException: [display_mrobot_with_camera.launch] is neither a launch file in package [mrobot_description] nor is [mrobot_description] a launch file name The traceback for the exception was written to the log file

🎄解决：
1.在终端先运行sudo gedit ~/.bashrc
2.然后在打开的文档最后添加source ~/catkin_ws/devel/setup.bash和export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/catkin_ws/
3.在终端运行source ~/.bashrc
4.在终端运行echo $ROS_PACKAGE_PATH 可以在屏幕上看到你添加的路径
🎄结果：可以打开但是显示如下
错误2：rviz中global status显示红色错误并在终端有错误提示

错误显示：
ERROR: cannot launch node of type [robot_state_publisher/state_publisher]: Cannot locate node of type [state_publisher] in package [robot_state_publisher]. Make sure file exists in package path and permission is set to executable (chmod +x)

🎄解决：

1. 将mrobot_description功能包下launch文件夹中display_mrobot_chassis_urdf.launch这个文件里面的运行robot_state_publisher节点下的type由type="state_publisher"改为type=“robot_state_publisher”
2. 进入rviz后将Fixed Frame的map改为base_link
3. 点击Add，找到RobotModel，选择添加

🎄结果：终端没错误，rviz没错误，能正常显示