作者在配置pibot机器人时报错：
Invalid <arg> tag: environment variable 'PIBOT_MODEL' is not set.
Arg xml is <arg default="$(env PIBOT_MODEL)" doc="model type [apollo, zeus, hades, hera]" name="model"/>
The traceback for the exception was written to the log file
解决方案：
环境未配置
配置环境即可
./pibot_init_env.sh
source ~/.bashrc
其中，pibot_init_env.sh文件源码如下：
1 #!/bin/bash 2 3 if ! [ $PIBOT_ENV_INITIALIZED ]; then 4 echo "export PIBOT_ENV_INITIALIZED=1" >> ~/.bashrc 5 echo "source ~/.pibotrc" >> ~/.bashrc 6 7 #rules 8 echo "setup pibot modules" 9 echo " " 10 sudo cp rules/pibot.rules /etc/udev/rules.d 11 sudo cp rules/rplidar.rules /etc/udev/rules.d 12 sudo cp rules/ydlidar.rules /etc/udev/rules.d 13 sudo cp rules/orbbec.rules /etc/udev/rules.d 14 echo " " 15 echo "Restarting udev" 16 echo "" 17 sudo service udev reload 18 sudo service udev restart 19 fi 20 21 code_name=$(lsb_release -sc) 22 23 if [ "$code_name" = "trusty" ]; then 24 ros_version="indigo" 25 elif [ "$code_name" = "xenial" ]; then 26 ros_version="kinetic" 27 else 28 echo "PIBOT not support "$code_name 29 exit 30 fi 31 32 echo "source /opt/ros/${ros_version}/setup.bash" > ~/.pibotrc 33 34 35 #LOCAL_IP=`ifconfig eth0|grep "inet addr:"|awk -F":" '{print $2}'|awk '{print $1}'` 36 #LOCAL_IP=`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print $2}' | awk -F"/" '{print $1}'` 37 38 #if [ ! ${LOCAL_IP} ]; then 39 # echo "please check network" 40 # exit 41 #fi 42 43 LOCAL_IP=`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print $2}' | awk -F"/" '{print $1}'` 44 echo "LOCAL_IP=\`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print $2}' | awk -F"/" '{print $1}'\`" >> ~/.pibotrc 45 46 if [ ! ${LOCAL_IP} ]; then 47 echo "please check network" 48 exit 49 fi 50 51 read -p "please specify pibot model(0:apollo,1:apolloX,2:zeus,3:hera,4:hades,other for user defined):" PIBOT_MODEL_INPUT 52 53 if [ "$PIBOT_MODEL_INPUT" = "0" ]; then 54 PIBOT_MODEL='apollo' 55 elif [ "$PIBOT_MODEL_INPUT" = "1" ]; then 56 PIBOT_MODEL='apolloX' 57 elif [ "$PIBOT_MODEL_INPUT" = "2" ]; then 58 PIBOT_MODEL='zeus' 59 elif [ "$PIBOT_MODEL_INPUT" = "3" ]; then 60 PIBOT_MODEL='hera' 61 elif [ "$PIBOT_MODEL_INPUT" = "4" ]; then 62 PIBOT_MODEL='hades' 63 else 64 PIBOT_MODEL=$PIBOT_MODEL_INPUT 65 fi 66 67 read -p "please specify your pibot lidar(0:rplidar,1:rplidar-a3,2:eai-x4,3:eai-g4,4:xtion,5:astra,6:kinectV1,other for user defined):" PIBOT_LIDAR_INPUT 68 69 if [ "$PIBOT_LIDAR_INPUT" = "0" ]; then 70 PIBOT_LIDAR='rplidar' 71 elif [ "$PIBOT_LIDAR_INPUT" = "1" ]; then 72 PIBOT_LIDAR='rplidar-a3' 73 elif [ "$PIBOT_LIDAR_INPUT" = "2" ]; then 74 PIBOT_LIDAR='eai-x4' 75 elif [ "$PIBOT_LIDAR_INPUT" = "3" ]; then 76 PIBOT_LIDAR='eai-g4' 77 elif [ "$PIBOT_LIDAR_INPUT" = "4" ]; then 78 PIBOT_LIDAR='xtion' 79 elif [ "$PIBOT_LIDAR_INPUT" = "5" ]; then 80 PIBOT_LIDAR='astra' 81 elif [ "$PIBOT_LIDAR_INPUT" = "6" ]; then 82 PIBOT_LIDAR='kinectV1' 83 else 84 PIBOT_LIDAR=$PIBOT_LIDAR_INPUT 85 fi 86 87 echo "export ROS_IP=\`echo $LOCAL_IP\`" >> ~/.pibotrc 88 echo "export ROS_HOSTNAME=\`echo $LOCAL_IP\`" >> ~/.pibotrc 89 echo "export PIBOT_MODEL=${PIBOT_MODEL}" >> ~/.pibotrc 90 echo "export PIBOT_LIDAR=${PIBOT_LIDAR}" >> ~/.pibotrc 91 92 read -p "please select specify the current machine(ip:$LOCAL_IP) type(0:onboard,other:remote):" PIBOT_MACHINE_VALUE 93 if [ "$PIBOT_MACHINE_VALUE" = "0" ]; then 94 ROS_MASTER_IP_STR="\`echo $LOCAL_IP\`" 95 ROS_MASTER_IP=`echo $LOCAL_IP` 96 else 97 read -p "plase specify the onboard machine ip for commnicationi:" PIBOT_ONBOARD_MACHINE_IP 98 ROS_MASTER_IP_STR=`echo $PIBOT_ONBOARD_MACHINE_IP` 99 ROS_MASTER_IP=`echo $PIBOT_ONBOARD_MACHINE_IP` 100 fi 101 102 echo "export ROS_MASTER_URI=`echo http://${ROS_MASTER_IP_STR}:11311`" >> ~/.pibotrc 103 104 echo "*****************************************************************" 105 echo "model: " $PIBOT_MODEL 106 echo "lidar:" $PIBOT_LIDAR 107 echo "local_ip: " ${LOCAL_IP} 108 echo "onboard_ip:" ${ROS_MASTER_IP} 109 echo "" 110 echo "please execute source ~/.bashrc to make the configure effective" 111 echo "*****************************************************************" 112 113 echo "source ~/pibot_ros/ros_ws/devel/setup.bash" >> ~/.pibotrc 114 115 #alias 116 echo "alias pibot_bringup='roslaunch pibot_bringup bringup.launch'" >> ~/.pibotrc 117 echo "alias pibot_bringup_with_imu='roslaunch pibot_bringup bringup_with_imu.launch'" >> ~/.pibotrc 118 echo "alias pibot_lidar='roslaunch pibot_bringup ${PIBOT_LIDAR}.launch'" >> ~/.pibotrc 119 echo "alias pibot_base='roslaunch pibot_bringup robot.launch'" >> ~/.pibotrc 120 echo "alias pibot_base_with_imu='roslaunch pibot_bringup robot_with_imu.launch'" >> ~/.pibotrc 121 echo "alias pibot_control='roslaunch pibot keyboard_teleop.launch'" >> ~/.pibotrc 122 123 echo "alias pibot_gmapping='roslaunch pibot_navigation gmapping.launch'" >> ~/.pibotrc 124 echo "alias pibot_gmapping_with_imu='roslaunch pibot_navigation gammaping_with_imu.launch'" >> ~/.pibotrc 125 echo "alias pibot_save_map='roslaunch pibot_navigation save_map.launch'" >> ~/.pibotrc 126 127 echo "alias pibot_naviagtion='roslaunch pibot_navigation nav.launch'" >> ~/.pibotrc 128 echo "alias pibot_naviagtion_with_imu='roslaunch pibot_navigation nav_with_imu.launch'" >> ~/.pibotrc 129 echo "alias pibot_view='roslaunch pibot_navigation view_nav.launch'" >> ~/.pibotrc 130 131 echo "alias pibot_cartographer='roslaunch pibot_navigation cartographer.launch'" >> ~/.pibotrc 132 echo "alias pibot_view_cartographer='roslaunch pibot_navigation view_cartographer.launch'" >> ~/.pibotrc 133 134 echo "alias pibot_hector_mapping='roslaunch pibot_navigation hector_mapping.launch'" >> ~/.pibotrc 135 echo "alias pibot_hector_mapping_without_imu='roslaunch pibot_navigation hector_mapping_without_odom.launch'" >> ~/.pibotrc 136 137 echo "alias pibot_karto_slam='roslaunch pibot_navigation karto_slam.launch'" >> ~/.pibotrc
其他出现类似报错的可以参考上面的代码直接把环境变量加到～/.bashrc里面。