ROS错误 rospkg.common.ResourceNotFound: kdl

在学习ROS_BY_EXAMPLE时 第七章

7.6.2 Timed Out-and-Back in the ArbotiX Simulator
If the simulator is not already running, start it with the command:
$ roslaunch rbx1_bringup fake_turtlebot.launch

(If desired, replace the fake_turtlebot.launch file with the one for Pi Robot or
your own robot. It won't make a difference to the results.)

If RViz is not already running, fire it up now:
$ rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz

Finally, run the timed_out_and_back.py node:
$ rosrun rbx1_nav timed_out_and_back.py

运行完最后一条指令时出现以下错误

raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: kdl

最终找到原因

需要安装 orocos_kinematics_dynamics

安装成之后如果还不行

需要编辑rbx1_nav 包里的manifest.xml

更改为

<package>
  <description brief="rbx1_nav">

    ROS by Example Vol 1 Navigation Package

  </description>
  <author>Patrick Goebel</author>
  <license>BSD</license>
  <review status="unreviewed" notes=""/>
  <url>http://ros.org/wiki/rbx1_nav</url>
  <depend package="roscpp"/>
  <depend package="rospy"/>
  <depend package="geometry_msgs"/>
  <depend package="nav_msgs"/>
  <depend package="move_base_msgs"/>
  <depend package="visualization_msgs"/>
  <depend package="tf"/>
  <depend package="actionlib"/>
  <depend package="orocos_kdl"/>
  <depend package="dynamic_reconfigure"/>

</package>

这个问题是由于版本不同造成的 我使用的ros版本为indigo 下载的orocos_kinematics_dynamics也为  而学习的是第一版的ROS BY EXAMPLE 的GROOVY的代码