[mbot_teleop-1] process has died [pid 3237, exit code 127, cmd /home/arise/sources/catkin_ws/src/mbo

在slam自主导航时候 启动键盘控制时候报错

错误：

[mbot_teleop-1] process has died [pid 3237, exit code 127, cmd /home/arise/sources/catkin_ws/src/mbot_teleop/scripts/mbot_teleop.py __name:=mbot_teleop __log:=/home/arise/.ros/log/33712cb8-3c4c-11ec-b042-2b39f59291af/mbot_teleop-1.log]. log file: /ho

解决

sudo ln -s /usr/bin/python3 /usr/bin/python

错误：SyntaxError: Missing parentheses in call to ‘print‘. Did you mean print(e)?

解决:

 我用的是ubuntu20.04，所以是python3的版本，与古月老师用的不一样所以需要修改~/catkin_ws/src/mbot_teleop/scripts/mbot_teleop.py文件中的所有的print后加（）。

#!/usr/bin/env python
# -*- coding: utf-8 -*-
 
import rospy
from geometry_msgs.msg import Twist
import sys, select, termios, tty
 
msg = """
Control mbot!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly
CTRL-C to quit
"""
 
moveBindings = {
        'i':(1,0),
        'o':(1,-1),
        'j':(0,1),
        'l':(0,-1),
        'u':(1,1),
        ',':(-1,0),
        '.':(-1,1),
        'm':(-1,-1),
           }
 
speedBindings={
        'q':(1.1,1.1),
        'z':(.9,.9),
        'w':(1.1,1),
        'x':(.9,1),
        'e':(1,1.1),
        'c':(1,.9),
          }
 
def getKey():
    tty.setraw(sys.stdin.fileno())
    rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
    if rlist:
        key = sys.stdin.read(1)
    else:
        key = ''
 
    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
    return key
 
speed = .2
turn = 1
 
def vels(speed,turn):
    return "currently:\tspeed %s\tturn %s " % (speed,turn)
 
if __name__=="__main__":
    settings = termios.tcgetattr(sys.stdin)
    
    rospy.init_node('mbot_teleop')
    pub = rospy.Publisher('/cmd_vel', Twist, queue_size=5)
 
    x = 0
    th = 0
    status = 0
    count = 0
    acc = 0.1
    target_speed = 0
    target_turn = 0
    control_speed = 0
    control_turn = 0
    try:
        print(msg)
        print(vels(speed,turn))
        while(1):
            key = getKey()
            # 运动控制方向键（1：正方向，-1负方向）
            if key in moveBindings.keys():
                x = moveBindings[key][0]
                th = moveBindings[key][1]
                count = 0
            # 速度修改键
            elif key in speedBindings.keys():
                speed = speed * speedBindings[key][0]  # 线速度增加0.1倍
                turn = turn * speedBindings[key][1]    # 角速度增加0.1倍
                count = 0
 
                print(vels(speed,turn))
                if (status == 14):
                    print(msg)
                status = (status + 1) % 15
            # 停止键
            elif key == ' ' or key == 'k' :
                x = 0
                th = 0
                control_speed = 0
                control_turn = 0
            else:
                count = count + 1
                if count > 4:
                    x = 0
                    th = 0
                if (key == '\x03'):
                    break
 
            # 目标速度=速度值*方向值
            target_speed = speed * x
            target_turn = turn * th
 
            # 速度限位，防止速度增减过快
            if target_speed > control_speed:
                control_speed = min( target_speed, control_speed + 0.02 )
            elif target_speed < control_speed:
                control_speed = max( target_speed, control_speed - 0.02 )
            else:
                control_speed = target_speed
 
            if target_turn > control_turn:
                control_turn = min( target_turn, control_turn + 0.1 )
            elif target_turn < control_turn:
                control_turn = max( target_turn, control_turn - 0.1 )
            else:
                control_turn = target_turn
 
            # 创建并发布twist消息
            twist = Twist()
            twist.linear.x = control_speed; 
            twist.linear.y = 0; 
            twist.linear.z = 0
            twist.angular.x = 0; 
            twist.angular.y = 0; 
            twist.angular.z = control_turn
            pub.publish(twist)
 
    except:
        print(e)
 
    finally:
        twist = Twist()
        twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
        twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
        pub.publish(twist)
 
    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
————————————————
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原文链接：https://blog.csdn.net/wuchaogege/article/details/121116916