Invalid roslaunch XML syntax: not well-formed (invalid token): line 11, column 10 The traceback for

报错：

Invalid roslaunch XML syntax: not well-formed (invalid token): line 11, column 10 The traceback for the exception was written to the log file

我的ros版本kinetic，安装了cartograther 准备用我的激光雷达构图，需要修改/cartographer_ros/myself_backpack_2d_localization.launch

文件，当我在运行roslaunch cartographer_ros myself_backpack_2d_localization.launch出现以上错误。

主要是出现了两个问题导致的：

原因１：标签打错了结束标签或者没打结束标签，我是没有打结束标签

<launch>
  <arg name="load_state_filename" default="/home/zzr/carto_ws/map.pbstream" >
  <param name="/use_sim_time" value="false" />
	<?ignore
<!--加载机器人模型-->

  <param name="robot_description"

    textfile="$(find cartographer_ros)/urdf/myself_robot.urdf" />

<!--发布tf-->

  <node name="robot_state_publisher" pkg="robot_state_publisher"

    type="robot_state_publisher" />
	?>
  <!--启动建图节点-->

  <node name="cartographer_node" pkg="cartographer_ros"

      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename myself_backpack_2d_localization.lua
          -load_state_filename $(arg load_state_filename)"
          output="screen">
 <!--重映射话题-->
       <remap from="scan" to="/rslidar/scan" />  
  </node>
 <!--需要注释下面所示文件的源码，然后重新编译-->
<!--cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc //occupancy_grid_publisher_.publish(*msg_ptr); /-->
 <!--发布地图-->
  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
<!--启动RVIZ-->
 <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
</launch>

第二行结束标签未打，修改如下

 <arg name="load_state_filename" default="/home/zzr/carto_ws/map.pbstream" />

原因２：myself_backpack_2d_localization.launch中，注释语法错误

<launch>
  <arg name="load_state_filename" default="/home/zzr/carto_ws/map.pbstream" />
  <param name="/use_sim_time" value="false" />

<!--加载机器人模型-->
  <!-- param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/myself_robot.urdf" /-->
<!--发布tf-->
  <!-- node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" /-->
  <!--启动建图节点-->
  <node name="cartographer_node" pkg="cartographer_ros"

      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename myself_backpack_2d_localization.lua
          -load_state_filename $(arg load_state_filename)"
          output="screen">
 <!--重映射话题-->
       <remap from="scan" to="/rslidar/scan" />  
  </node>
 <!--需要注释下面所示文件的源码，然后重新编译-->
<!--cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc //occupancy_grid_publisher_.publish(*msg_ptr); /-->
 <!--发布地图-->
  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
<!--启动RVIZ-->
 <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
</launch>

这两个注释错误

<!--加载机器人模型-->
  <!-- param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/myself_robot.urdf" /-->
<!--发布tf-->
  <!-- node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" /-->

后来发现launch文件不能用 <!--    ....    -->不能用这个注释。可以用launch文件的注释方法：<?ignore ..........?>

修改如下：

<launch>
  <arg name="load_state_filename" default="/home/zzr/carto_ws/map.pbstream" />
  <param name="/use_sim_time" value="false" />
	<?ignore
<!--加载机器人模型-->

  <param name="robot_description"

    textfile="$(find cartographer_ros)/urdf/myself_robot.urdf" />

<!--发布tf-->

  <node name="robot_state_publisher" pkg="robot_state_publisher"

    type="robot_state_publisher" />
	?>
  <!--启动建图节点-->

  <node name="cartographer_node" pkg="cartographer_ros"

      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename myself_backpack_2d_localization.lua
          -load_state_filename $(arg load_state_filename)"
          output="screen">
 <!--重映射话题-->
       <remap from="scan" to="/rslidar/scan" />  
  </node>
 <!--需要注释下面所示文件的源码，然后重新编译-->
<!--cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc //occupancy_grid_publisher_.publish(*msg_ptr); /-->
 <!--发布地图-->
  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
<!--启动RVIZ-->
 <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
</launch>

然后再重新编译一下源代码，就可以roslaunch了