XTDrone 报错解决

问题1:

xacro: in-order processing became default in ROS Melodic. You can drop the option.
RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py', '/home/hao/catkin_ws/src/catvehicle/urdf/catvehicle4-6.xacro', 'roboname:=ugv_1']].

Param xml is <param name="robot_description" command="$(find xacro)/xacro.py '$(find catvehicle)/urdf/catvehicle4-6.xacro' roboname:='ugv_1'"/>
The traceback for the exception was written to the log file

解决：

[robot_description]: no such command [[‘/opt/ros/noetic/share/xacro/xacro.py‘ 出错解决ros_noetic_robot no such command-CSDN博客
把command="$(find xacro)/xacro.py '$(find catvehicle)/urdf/catvehicle4-6.xacro' roboname:='ugv_1'" />

中的xacro.py改成xacro -i

即：

command="$(find xacro)/xacro -i '$(find catvehicle)/urdf/catvehicle4-6.xacro' roboname:='ugv_1'" />