ubuntu - "RLException: unused args"无法运行启动文件ROS

Question

我在 Ubuntu[18.04] 中使用 ROS Melodic 尝试模拟 Summit_xl_steel 机器人。
我可以使用 catkin_make 成功构建软件包.
运行此命令:roslaunch summit_xl_sim_bringup summit_xl_complete.launch终端输出如下:

... logging to /home/developer/.ros/log/621f806e-30da-11ec-bda4-0242ac120003/roslaunch-b5f2eaf84429-23052.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
Deprecated: xacro tag 'sensor_axis_gazebo' w/o 'xacro:' xml namespace prefix (will be forbidden in Noetic)
when processing file: /workspace/src/summit_xl_common/summit_xl_description/robots/summit_xl_std.urdf.xacro
Use the following command to fix incorrect tag usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'

RLException: unused args [arm_model, arm_manufacturer] for include of [/workspace/src/summit_xl_common/summit_xl_control/launch/summit_xl_control.launch]
The traceback for the exception was written to the log file

我使用了建议的命令来修复不正确的标签使用，但是，这并没有改变任何东西。我还多次重建和重新获取环境资源，以确保不会导致错误。
启动文件是:

<?xml version="1.0"?>
<launch>
  <arg name="id_robot" default="$(optenv ROBOT_ID robot)"/>
  <arg name="prefix" default="$(arg id_robot)_"/>

  <!-- kinematics: skid, omni -->
  <arg name="kinematics" default="$(optenv ROBOT_KINEMATICS skid)"/>
  <arg name="wheel_diameter" default="$(optenv ROBOT_WHEEL_DIAMETER 0.22)"/>
  <arg name="track_width" default="$(optenv ROBOT_TRACK_WIDTH 0.439)"/>
  <arg name="wheel_base" default="$(optenv ROBOT_WHEEL_BASE 0.430)"/>
  <arg name="odom_frame" default="$(arg prefix)odom"/>
  <arg name="base_frame" default="$(arg prefix)base_footprint"/>
  <arg name="ros_planar_move_plugin" default="false"/>
  <arg name="sim" default="false"/>
  <arg name="sim_arm_control" default="false"/>
  <arg name="cmd_vel" default="robotnik_base_control/cmd_vel"/>
  <arg name="launch_pantilt_camera_controller" default="false"/>
  <arg name="odom_broadcast_tf" default="true"/>
  <!-- kinova arm -->
  <arg name="kinova_arm" default="j2s7s300"/>
  <arg name="arm_prefix" default="$(arg prefix)$(arg kinova_arm)"/>
  <arg name="is7dof" default="true"/>

  <!-- Robot - Load joint controller configurations from YAML file to parameter server -->
  <group unless="$(arg sim)">
      <rosparam file="$(find summit_xl_control)/config/robot_control.yaml" command="load" subst_value="true"/>

      <!-- load the controllers -->
      <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="
          robotnik_base_control
          joint_read_state_controller
          ">
      </node>

  </group>
    <!-- Simulation - Load joint controller configurations from YAML file to parameter server -->
  <group if="$(arg sim)">
      <rosparam file="$(find summit_xl_control)/config/simulation/robot_control.yaml" command="load" subst_value="true"/>

    <group if="$(arg sim_arm_control)">
      <!-- Kinova -->
      <include file="$(find summit_xl_control)/launch/kinova_control.launch">
        <arg name="prefix" value="$(arg prefix)"/>
        <arg name="kinova_arm" value="$(arg kinova_arm)"/>
        <arg name="arm_prefix" value="$(arg arm_prefix)"/>
        <arg name="use_trajectory_controller" value="false"/>
        <arg name="is7dof" value="$(arg is7dof)"/>
      </include>
    </group>

    <!-- if it has camera ptz -->
    <group if="$(arg launch_pantilt_camera_controller)">
      <node if="$(arg ros_planar_move_plugin)" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="
        joint_read_state_controller
        joint_pan_position_controller
        joint_tilt_position_controller
       ">
      </node>

      <!-- load the robotnik_base_control ros controllers -->
      <node unless="$(arg ros_planar_move_plugin)" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="
        robotnik_base_control
        joint_read_state_controller
        joint_pan_position_controller
        joint_tilt_position_controller
       ">
      </node>
    </group>
    <!-- if does not have camera ptz -->
    <group unless="$(arg launch_pantilt_camera_controller)">
      <node if="$(arg ros_planar_move_plugin)" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="
        joint_read_state_controller
       ">
      </node>

      <!-- load the robotnik_base_control ros controllers -->
      <node unless="$(arg ros_planar_move_plugin)" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="
        robotnik_base_control
        joint_read_state_controller
       ">
      </node>
    </group>


  </group>


  <node pkg="twist_mux" type="twist_mux" name="twist_mux">
    <rosparam command="load" file="$(find summit_xl_control)/config/twist_mux.yaml" />
    <remap from="cmd_vel_out" to="$(arg cmd_vel)" />
  </node>
  <node pkg="twist_mux" type="twist_marker" name="twist_marker">
    <remap from="twist"  to="$(arg cmd_vel)"/>
    <remap from="marker" to="twist_marker"/>
  </node>


</launch>

如何修复启动文件，以便可以在凉亭中启动机器人模型？
任何帮助表示赞赏，谢谢。

Answer 1

这是 summit_xl 中的错误。包裹。您收到错误是因为 summit_xl_one_robot.launch为 arm_model 传递 args和 arm_manufacturer .您看到的错误是因为 summit_xl_complete.launch 中实际上没有使用任何 args .作者可能打算让那些成为参数，但我不确定。
要解决此问题，您需要删除 simmut_xl_one_robot.launch 中的这两行如上面的链接所示:

<arg name="arm_manufacturer" value="$(arg arm_manufacturer)"/>
<arg name="arm_model" value="$(arg arm_model)"/>