ROS探索总结（五）学习遇到的问题

学习文章链接：http://blog.exbot.net/archives/628

跟据文章中的教程在catkin_ws/src的目录下创建好包后运行命令

roslaunch  smartcar_description  base.urdf.rviz.launch  gui:=true

时发生如下错误：

core service [/rosout] found
process[joint_state_publisher-1]: started with pid [21563]
process[robot_state_publisher-2]: started with pid [21564]
process[rviz-3]: started with pid [21587]
ERROR: the config file '/opt/ros/hydro/share/urdf_tutorial/urdf.vcg' is a .vcg file, which is the old rviz config format.
       New config files have a .rviz extension and use YAML formatting.  The format changed
       between Fuerte and Groovy.  There is not (yet) an automated conversion program.
[rviz-3] process has died [pid 21587, exit code 1, cmd /opt/ros/hydro/lib/rviz/rviz -d /opt/ros/hydro/share/urdf_tutorial/urdf.vcg __name:=rviz __log:=/home/exbot/.ros/log/362f0498-b381-11e5-8538-0023248e21ab/rviz-3.log].
log file: /home/exbot/.ros/log/362f0498-b381-11e5-8538-0023248e21ab/rviz-3*.log

发现同样是由于文中指定使用.vcg格式的文件引起，将base.urdf.rviz.launch文件的内容做如下更改后可以正常运行

<launch>
    <arg name="model" />
    <arg name="gui" default="False" />
    <param name="robot_description" textfile="$(find smartcar_description)/urdf/smartcar.urdf" />
    <param name="use_gui" value="$(arg gui)"/>
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />
</launch>