matlab urdf,Melodic 使用URDF创建简单的机器人模型

本人Linux版本：Ubuntu 18.04LTS

ROS版本：Melodic

URDF代码

launch文件

会有以下报错

[WARN] [1582867522.390661]: The 'use_gui' parameter was specified, which is deprecated. We'll attempt to find and run the GUI, but if this fails you should install the'joint_state_publisher_gui'package instead and run that. This backwards compatibility option will be removed in Noetic.

[ERROR] [1582867522.392212]: Could not find the GUI, install the 'joint_state_publisher_gui'package

[joint_state_publisher-2] process has died [pid 9056, exit code 1, cmd /opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/vtas/.ros/log/b6cbe59e-59ea-11ea-b2f1-84ef181f5770/joint_state_publisher-2.log].

logfile: /home/vtas/.ros/log/b6cbe59e-59ea-11ea-b2f1-84ef181f5770/joint_state_publisher-2*.log

主要解决办法如下：

1、joint_state_publisher_gui是刚更新出来的包，需要把之前的joint_state_publisher换成joint_state_publisher_gui

sudo apt-get install ros-melodic-joint-state-publisher-gui

如果是kinetic版本的

sudo apt-get install ros-kinetic-joint-state-publisher-gui

2、URDF文件中不能有中文注释，删除掉中文注释；

然后再运行就可以成功打开了。

但是还是存在一个warning

[WARN] [1582868994.395547]: The 'use_gui' parameter was specified, which is deprecated. We'll attempt to find and run the GUI, but if this fails you should install the'joint_state_publisher_gui'package instead and run that. This backwards compatibility option will be removed in Noetic.

希望看到的人提供一个解决思路，不胜感激。

二更

编译后不用再重复添加环境变量source的办法

例如catkin_ws

在/home 文件夹下按ctrl+h显示隐藏文件

打开 .bashrc

再最后输入  source+路径

source /home/vtas/catkin_ws/devel/setup.bash

之后就没必要每次都source一下了