（ros/moveit）cob_simulation報錯

cob_simulation報錯

依照官網說明　http://wiki.ros.org/cob_bringup_sim

 1. git clone https://github.com/ipa320/cob_simulation.git
 2. 然後將cob_simulation package放入catking工作空間
 3. 編譯
 4. 運行　

　export ROBOT=cob4-2
    export ROBOT_ENV=ipa-apartment
    roslaunch cob_bringup_sim robot.launch

出現錯誤：

 

  while processing /home/wsh/bzrobot_ws/src/cob_environments/cob_hardware_config/common/upload_robot.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/indigo/share/xacro/xacro.py '/home/wsh/bzrobot_ws/src/cob_environments/cob_hardware_config/cob3-1/urdf/cob3-1.urdf.xacro'] returned with code [1].

Param xml is <param command="$(find xacro)/xacro.py '$(arg pkg_hardware_config)/$(arg robot)/urdf/$(arg robot).urdf.xacro'" name="robot_description"/>
The traceback for the exception was written to the log file

然後發現有這樣一段話：
　1.　Software Requirements

　　Make sure that you have the cob_simulation stack installed on 　your system.
　　確保cob_simulation已經安裝，我以爲編譯好就叫安裝。

然後我安裝了(http://wiki.ros.org/Robots/Care-O-bot/electric),我是indigo版本号：
　

    sudo apt-get install ros-indigo-care-o-bot

發現系統裏面出現了環境變量的幾個包。
環境變量不要忘記設置：

　　　　　echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc　　　　
　　　　　. ~/.bashrc

          source /opt/ros/indigo/setup.bash

然後：
　　　

roslaunch cob_bringup_sim robot.launch

依然出现上面的錯誤。            正確的方法是先設置環境變量，然後運行：

　  export ROBOT=cob4-2
    export ROBOT_ENV=ipa-apartment
    roslaunch cob_bringup_sim robot.launch

Author: wsh 
Email: tongzhuodenilove@163.com