博客内容涉及到ROS（Robot Operating System）的使用中遇到的问题，具体是由于缺少xmlstarlet工具导致的启动失败。解决方案是通过sudo apt install xmlstarlet命令安装xmlstarlet。这提示读者在进行ROS相关开发时需要注意依赖项的完整性和系统工具的安装。
... logging to /home/luyu/.ros/log/f8336262-666f-11ec-ad21-4287fcc6d992/roslaunch-luyu-Lenovo-32405.log
Checking log directory for disk usage. This may take a while.
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Done checking log file disk usage. Usage is <1GB.
RLException: while processing /home/luyu/PX4_Firmware/launch/single_vehicle_spawn_xtd.launch:
Invalid <param> tag: Cannot load command parameter [model_description]: no such command [['xmlstarlet', 'ed', '-d', '//plugin[@name="mavlink_interface"]/mavlink_tcp_port', '-s', '//plugin[@name="mavlink_interface"]', '-t', 'elem', '-n', 'mavlink_tcp_port', '-v', '4560', '/home/luyu/PX4_Firmware/Tools/sitl_gazebo/models/iris_stereo_camera/iris_stereo_camera.sdf']].
Param xml is <param command="$(arg cmd)" name="model_description"/>
The traceback for the exception was written to the log file
根据 no such command xmlstarlet.
就是没有安装xmlstarlet，sudo apt install xmlstarlet 就好了
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