解决方案-joint_state_publisher process has died

出错内容：
[joint_state_publisher-2] process has died [pid 20083, exit code 1, cmd /opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/isst/.ros/log/239693d6-1443-11ec-b2ab-0c8268028cc2/joint_state_publisher-2.log].
log file: /home/isst/.ros/log/239693d6-1443-11ec-b2ab-0c8268028cc2/joint_state_publisher-2*.log

向上查找终端输出信息，如下：

  File "/opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher", line 44, in <module>
    jsp = joint_state_publisher.JointStatePublisher()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/joint_state_publisher/__init__.py", line 161, in __init__
    robot = xml.dom.minidom.parseString(description)
  File "/usr/lib/python2.7/xml/dom/minidom.py", line 1928, in parseString
    return expatbuilder.parseString(string)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 940, in parseString
    return builder.parseString(string)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 223, in parseString
    parser.Parse(string, True)
UnicodeEncodeError: 'ascii' codec can't encode characters in position 605-615: ordinal not in range(128)

可以看出主要出现了非法字符，导致正确解析xacro文件，解决方法如下：
进入/opt/ros/melodic/lib/python2.7/dist-packages/joint_state_publisher文件夹，然后运行：

sudo gedit __init__.py

在该py文件前面添加：

import sys
reload(sys)
sys.setdefaultencoding( "utf-8" )

即可解决。