ROS： ResourceNotFound: ros_robot_description_pkg

 

ROS系統安裝好，並且裝了一些控制器插件，執行roscore命令後，再通過roslaunch命令執行 launch文件出現以下錯誤：

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 306, in main
    p.start()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start
    self._start_infrastructure()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure
    self._load_config()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config
    roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default
    loader.load(f, config, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 749, in load
    self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 721, in _load_launch
    self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 665, in _recurse_load
    self._param_tag(tag, context, ros_config, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
    return f(*args, **kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 257, in _param_tag
    vals = self.opt_attrs(tag, context, ('value', 'textfile', 'binfile', 'command'))
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 202, in opt_attrs
    return [self.resolve_args(tag_value(tag,a), context) for a in attrs]
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args
    return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 370, in resolve_args
    resolved = _resolve_args(resolved, context, resolve_anon, commands)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 383, in _resolve_args
    resolved = commands[command](resolved, a, args, context)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 151, in _find
    source_path_to_packages=source_path_to_packages)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 197, in _find_executable
    full_path = _get_executable_path(rp.get_path(args[0]), path)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 203, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: ros_robot_description_pkg
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/opt/ros/kinetic/share

原因： 找不到所創建的軟件包，因此需要通過路徑和命令加載軟件包

cd ~/GHRosBotTutorials

 source devel/setup.sh

爲了避免每次啓動後輸入該命令的繁瑣，可通過命令把它添加到.bashrc文件中

echo " source ~/catkin_ws/devel/setup.sh" >> ~/bash.rc

如果是在虛擬機上安裝的ROS，最好也在.bashrc中添加上export SVGA_VGPU10=0   , 關閉硬件加速, 下面的內容是.bashrc文件尾部代碼。

source /opt/ros/kinetic/setup.bash
source ~/catkin_ws/devel/setup.sh
export SVGA_VGPU10=0

參考：https://community.husarion.com/t/ros-tutorial-launch-files-2-and-6-throw-raise-resourcenotfound-name-ros-paths-self-ros-paths-error/568/2