问题描述:在编写完urdf文件后,运行launch文件出现 子级连杆和父级连杆的位置不对,且不能转动,并且在终端上出现如下问题:[joint_state_publisher-3] process has died [pid 83185, exit code 1, cmd /opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/melodic/.ros/log/bd2f494e-c9bf-11eb-8f55-000c295384a4/joint_state_publisher-3.log].
log file: /home/melodic/.ros/log/bd2f494e-c9bf-11eb-8f55-000c295384a4/joint_state_publisher-3*.log
我的urdf文件为
问题解决:
1、确保urdf文件的首行不能是注释
2、确保urdf文件中没有中文注释
3、更新joint_state_publisher_gui
sudo apt-get install ros-xxx-joint-state-publisher-gui
xxx替换为当前ros版本 kinetic indigo melodic等
最后再rosrun一下launch文件
roslaunch urdf01_rviz demo03_join