ROS noetic [turtle1_tf_broadcaster-4] process has died

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最新推荐文章于 2024-09-27 17:24:06 发布

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运行下面的指令

roslaunch turtle_tf turtle_tf_demo.launch

报错：

... logging to /home/mc/.ros/log/1d03f5da-9257-11ec-8b40-912958d5c310/roslaunch-ubun-29906.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubun:33955/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.14
 * /scale_angular: 2.0
 * /scale_linear: 2.0
 * /turtle1_tf_broadcaster/turtle: turtle1
 * /turtle2_tf_broadcaster/turtle: turtle2

NODES
  /
    sim (turtlesim/turtlesim_node)
    teleop (turtlesim/turtle_teleop_key)
    turtle1_tf_broadcaster (turtle_tf/turtle_tf_broadcaster.py)
    turtle2_tf_broadcaster (turtle_tf/turtle_tf_broadcaster.py)
    turtle_pointer (turtle_tf/turtle_tf_listener.py)

auto-starting new master
process[master]: started with pid [29914]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1d03f5da-9257-11ec-8b40-912958d5c310
process[rosout-1]: started with pid [29924]
started core service [/rosout]
process[sim-2]: started with pid [29931]
process[teleop-3]: started with pid [29932]
process[turtle1_tf_broadcaster-4]: started with pid [29933]
/usr/bin/env: “python”: 没有那个文件或目录
process[turtle2_tf_broadcaster-5]: started with pid [29934]
/usr/bin/env: “python”: 没有那个文件或目录
process[turtle_pointer-6]: started with pid [29937]
/usr/bin/env: “python”: 没有那个文件或目录
Reading from keyboard
---------------------------
Use arrow keys to move the turtle. 'q' to quit.

[turtle1_tf_broadcaster-4] process has died [pid 29933, exit code 127, cmd /opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py __name:=turtle1_tf_broadcaster __log:=/home/mc/.ros/log/1d03f5da-9257-11ec-8b40-912958d5c310/turtle1_tf_broadcaster-4.log].
log file: /home/mc/.ros/log/1d03f5da-9257-11ec-8b40-912958d5c310/turtle1_tf_broadcaster-4*.log
[turtle2_tf_broadcaster-5] process has died [pid 29934, exit code 127, cmd /opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py __name:=turtle2_tf_broadcaster __log:=/home/mc/.ros/log/1d03f5da-9257-11ec-8b40-912958d5c310/turtle2_tf_broadcaster-5.log].
log file: /home/mc/.ros/log/1d03f5da-9257-11ec-8b40-912958d5c310/turtle2_tf_broadcaster-5*.log
[turtle_pointer-6] process has died [pid 29937, exit code 127, cmd /opt/ros/noetic/lib/turtle_tf/turtle_tf_listener.py __name:=turtle_pointer __log:=/home/mc/.ros/log/1d03f5da-9257-11ec-8b40-912958d5c310/turtle_pointer-6.log].
log file: /home/mc/.ros/log/1d03f5da-9257-11ec-8b40-912958d5c310/turtle_pointer-6*.log

从报错上来看，是找不到python，

process[turtle1_tf_broadcaster-4]: started with pid [29933]
/usr/bin/env: “python”: 没有那个文件或目录
process[turtle2_tf_broadcaster-5]: started with pid [29934]
/usr/bin/env: “python”: 没有那个文件或目录
process[turtle_pointer-6]: started with pid [29937]
/usr/bin/env: “python”: 没有那个文件或目录

于是我打开

/opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py

看了一下，确实里面出现的是

#!/usr/bin/env python

使用which python也查不到任何信息，which python3则可以找到：/usr/bin/python3，

于是果断创建快捷链接，

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

问题解决。

参考：

[turtle1_tf_broadcaster-4] process has died - ROS Answers: Open Source Q&A Forum