ros机器人仿真出现[robot_state_publisher-3] process has died

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转载最新推荐文章于 2026-07-30 15:54:19 发布 9.2k 阅读 AI 写同款· GEO 优化 ›

ROS学习中遇到的问题以及解决方案因为ubuntu18.04使用的ros版本是melodic，而melodic默认使用的是python2，但是我们跑代码实际用的是python3。找到/opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher里的文件加入。是由于字符集的问题，看到很多解决办法说不要写中文注释，但是注释是很重要的啊，不然以后重新审视代码就会不知道在干啥。原因：没有里程计信息，导致amcl坐标系紊乱。原因：一般均因为urdf內部含有中文字符。阅读详情

在学习ros过程中，使用urdf文件配置机器人，使用roslaunch运行，过程中，robot_state_publisher出现异常[robot_state_publisher-3] process has died [pid 3574, exit code -11, cmd /opt/ros/kinetic/lib/robot_state_publisher/state_publisher __name:=robot_state_publisher __log:=/home/wendongli/.ros/log/faf09fee-c062-11e8-b106-a0c589acc227/robot_state_publisher-3.log].
log file: /home/wendongli/.ros/log/faf09fee-c062-11e8-b106-a0c589acc227/robot_state_publisher-3*.log
寻求解决方案
urdf文件内容

<?xml version="1.0"?>  
<robot name="smartcar">  
  <link name="base_link">  
    <visual>  
      <geometry>  
        <box size="0.25 .16 .05"/>  
    </geometry>  
    <origin rpy="0 0 1.57075" xyz="0 0 0"/>  
    <material name="blue">  
        <color rgba="0 0 .8 1"/>  
    </material>  
    </visual>  
</link>  

<link name="right_front_wheel">  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  
  </link>  

  <joint name="right_front_wheel_joint" type="continuous">  
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="right_front_wheel"/>  
    <origin rpy="0 1.57075 0" xyz="0.08 0.1 -0.03"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
  </joint>  

  <link name="right_back_wheel">  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  
  </link>  

  <joint name="right_back_wheel_joint" type="continuous">  
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="right_back_wheel"/>  
    <origin rpy="0 1.57075 0" xyz="0.08 -0.1 -0.03"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
</joint>  

<link name="left_front_wheel">  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  
  </link>  

  <joint name="left_front_wheel_joint" type="continuous">  
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="left_front_wheel"/>  
    <origin rpy="0 1.57075 0" xyz="-0.08 0.1 -0.03"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
  </joint>  

  <link name="left_back_wheel">  
    <visual>  
      <geometry>  
        <cylinder length=".02" radius="0.025"/>  
      </geometry>  
      <material name="black">  
        <color rgba="0 0 0 1"/>  
      </material>  
    </visual>  
  </link>  

  <joint name="left_back_wheel_joint" type="continuous">  
    <axis xyz="0 0 1"/>  
    <parent link="base_link"/>  
    <child link="left_back_wheel"/>  
    <origin rpy="0 1.57075 0" xyz="-0.08 -0.1 -0.03"/>  
    <limit effort="100" velocity="100"/>  
    <joint_properties damping="0.0" friction="0.0"/>  
  </joint>  

  <link name="head">  
    <visual>  
      <geometry>  
        <box size=".02 .03 .03"/>  
      </geometry>  
      <material name="white">  
          <color rgba="1 1 1 1"/>  
      </material>  
    </visual>  
  </link>  

  <joint name="tobox" type="fixed">  
    <parent link="base_link"/>  
    <child link="head"/>  
    <origin xyz="0 0.08 0.025"/>  
  </joint>  
</robot>

launch内容

<launch>
	<arg name="model" />
	<arg name="gui" default="False" />
	<param name="robot_description" textfile="$(find smartcar_description)/urdf/smartcar.urdf" />
	<param name="use_gui" value="$(arg gui)"/>
	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />
</launch>

脚本来源网络

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