ros运行robot_sim_demo时出现[ERROR] [1597926212.142204682, 0.092000000]: Failed to load nodelet......

在运行sim这个demo时出现一个error：

error信息如下：

   [ERROR] [1597926212.144023519, 0.092000000]: The error before
   refreshing the cache was: According to the loaded plugin
   descriptions the class yocs_cmd_vel_mux/CmdVelMuxNodelet with
   base class type nodelet::Nodelet does not exist. Declared types
   are  SlamGMappingNodelet depth_image_proc/convert_metric
   depth_image_proc/crop_foremost depth_image_proc/disparity
   depth_image_proc/point_cloud_xyz
   depth_image_proc/point_cloud_xyz_radial
   depth_image_proc/point_cloud_xyzi
   depth_image_proc/point_cloud_xyzi_radial
   depth_image_proc/point_cloud_xyzrgb depth_image_proc/register
   image_proc/crop_decimate image_proc/crop_nonZero
   image_proc/crop_non_zero image_proc/debayer image_proc/rectify
   image_proc/resize image_publisher/image_publisher
   image_rotate/image_rotate image_view/disparity image_view/image
   nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation
   pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction
   pcl/ExtractIndices pcl/ExtractPolygonalPrismData
   pcl/FPFHEstimation pcl/FPFHEstimationOMP
   pcl/MomentInvariantsEstimation pcl/MovingLeastSquares
   pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation
   pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader
   pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough
   pcl/PointCloudConcatenateDataSynchronizer
   pcl/PointCloudConcatenateFieldsSynchronizer
   pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers
   pcl/RadiusOutlierRemoval pcl/SACSegmentation
   pcl/SACSegmentationFromNormals pcl/SHOTEstimation
   pcl/SHOTEstimationOMP pcl/SegmentDifferences
   pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
   stereo_image_proc/disparity stereo_image_proc/point_cloud2
   
   [FATAL] [1597926212.145538226, 0.092000000]: Failed to load
   nodelet '/cmd_vel_mux` of type
   `yocs_cmd_vel_mux/CmdVelMuxNodelet` to manager
   `mobile_base_nodelet_manager'
   
   [cmd_vel_mux-8] process has died [pid 29156, exit code 255, cmd
   /opt/ros/kinetic/lib/nodelet/nodelet load
   yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager
   cmd_vel_mux/output/cmd_vel:=cmd_vel __name:=cmd_vel_mux
   __log:=/home/dcr/.ros/log/c1b4f756-e2df-11ea-a825-5800e30310dd/cmd_vel_mux-8.log].
   
   log file:
   /home/dcr/.ros/log/c1b4f756-e2df-11ea-a825-5800e30310dd/cmd_vel_mux-8*.log

第一段翻译：
[ERROR] [1597926212.144023519, 0.092000000]: The error before
refreshing the cache was: According to the loaded plugin
descriptions the class yocs_cmd_vel_mux/CmdVelMuxNodelet with
base class type nodelet::Nodelet does not exist.

即使刷新缓存后，也无法加载类型为[yocs_cmd_vel_mux / CmdVelMuxNodelet]的nodelet [/ cmd_vel_mux]：根据已加载的插件描述，不存在基类类型为nodelet :: Nodelet的yocs_cmd_vel_mux / CmdVelMuxNodelet类。

造成这个error的原因是缺失了yocs_cmd_vel_mux包，这个包是对机器人进行速度调节的包，在这个sim_demo里对xbot机器人进行速度调节的node是/cmd_vel_mux。

解决办法：

sudo apt-get install ros-kinetic-yocs-cmd-vel-mux

然后再运行

roslaunch  robot_sim_demo  robot_spawn.launch

同道:https://github.com/scutDavid