ROS执行多个节点报错(遥控运动及SLAM建图)

今天在实体机器人中同时执行多个ROS节点:

roslaunch rei_robot_base oryxbot_base.launch

roslaunch robot_joy robot_joy.launch

roslaunch oryxbot_slam oryxbot_slam_local.launch

结果全部报错退出了

现在换一种执行方式:

roscore

roslaunch rei_robot_base oryxbot_base.launch

roslaunch oryxbot_slam oryxbot_slam_local.launch

结果除了第一个命令，后面两条指令全部报错退出了

分析原因：
在执行指令:

roslaunch rei_robot_base oryxbot_base.launch

时，启动的节点包括:

oryxbot_base_node (rei_robot_base/robot_base_node)

而在执行指令:

roslaunch oryxbot_slam oryxbot_slam_local.launch

时，启动的节点包括:

front_lidar (nodelet/nodelet)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
joy_node (joy/joy_node)
lidar_fuse (nodelet/nodelet)
oryxbot_base_node (rei_robot_base/robot_base_node)
oryxbot_slam_gmapping (gmapping/slam_gmapping)
rear_lidar (nodelet/nodelet)
robot_joy (robot_joy/robot_joy_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ydlidar_manager (nodelet/nodelet)

这个可能与节点冲突有关，
于是只启动：

roslaunch oryxbot_slam oryxbot_slam_local.launch

成功.