RLException: Invalid ＜param＞ tag: Cannot load command parameter [robot_description]: no such command_rlexception: invalid <node> tag: invalid <param> t-CSDN博客

本文链接：https://blog.csdn.net/u011573853/article/details/124203235

本文档介绍了一个在ROS Noetic环境下搭建模拟机器人手臂时遇到的问题，即在运行rrbot_rviz.launch文件时，由于xacro.py命令不再适用，导致报错。解决方法是将launch文件中的`xacro.py`替换为`xacro`。更新后的launch文件成功避免了RLException错误，确保了模拟机器人手臂的正常显示。

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在ROS机器人开发实用案例分析中第五章搭建模拟机器人手臂里面的rrbot_rviz.lunch如下所示

<launch>
<!-- set parameter on Parameter Server-->
<arg name="model"/>
<param name="robot_description" command="$(find xacro)/xacro.py
    '$(find ros_robotics)/urdf/$(arg model)'"/> 

<!-- send joind values from gui-->
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
    <param name="use_gui" value="TRUE"/>
</node>

<!-- use joint positions to update tf-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>

<!-- visualize robot mode in 3D-->
<node name="rviz" pkg="rviz" type="rviz" 
    args="-d $(find ros_robotics)/urdf.rviz" required="true" />
</launch>

运行会报出如下错误

RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py', '/home/lvrobot/ROSExample/src/ros_robotics/urdf/rrbot.xacro']]. 

Param xml is <param name="robot_description" command="$(find xacro)/xacro.py      '$(find ros_robotics)/urdf/$(arg model)'"/>
The traceback for the exception was written to the log file

其主要原因是在Noetic版本的ROS需要把

xacro.py

改为

xacro

<launch>
<!-- set parameter on Parameter Server-->
<arg name="model"/>
<param name="robot_description" command="$(find xacro)/xacro
    '$(find ros_robotics)/urdf/$(arg model)'"/> 

<!-- send joind values from gui-->
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
    <param name="use_gui" value="TRUE"/>
</node>

<!-- use joint positions to update tf-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>

<!-- visualize robot mode in 3D-->
<node name="rviz" pkg="rviz" type="rviz" 
    args="-d $(find ros_robotics)/urdf.rviz" required="true" />
</launch>