xacro文件参数解析报错

报错：Unable to parse component [${xxx}] to a double (while parsing a vector value)

原因：launch 有问题

解决：https://answers.ros.org/question/334665/xacro-property-names-not-recognised-by-roslaunch/

Your error is due to how you load the parameter robot_description, you don’t actually call xacro to parse the file when using this :

<param name="robot_description" textfile="$(find omni_description)/urdf/omni.urdf" />

What it should be is :

  <arg name="model" default="$(find omni_description)/urdf/omni.urdf.xacro"/>
  <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />

这个图片为啥显示不出来