[robot_description]: no such command [[‘/opt/ros/noetic/share/xacro/xacro.py‘ 出错解决ros_noetic
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环境: Ubuntu20.04 | ros版本Noetic
问题描述:
运行roscore时
也就是:roslaunch robot_sim_demo robot_spawn.launch
出现
RLException: while processing /home/lz/demo_ws/src/ROS-Academy-for-Beginners/robot_sim_demo/launch/include/xbot-u.launch.xml:
Invalid <param> tag: Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py', '/home/lz/demo_ws/src/ROS-Academy-for-Beginners/robot_sim_demo/urdf/robot.xacro']].
Param xml is <param name="robot_description" command="$(find xacro)/xacro.py $(find robot_sim_demo)/urdf/robot.xacro"/>
The traceback for the exception was written to the log file
解决办法
vi ~/[你的工作空间 your workspace]/src/ROS-Academy-for-Beginners/robot_sim_demo/launch/include/xbot-u.launch.xml
修改
<param name="robot_description" command="$(find xacro)/xacro.py $(find robot_sim_demo)/urdf/robot.xacro" />
修改为
<param name="robot_description" command="$(find xacro)/xacro -i $(find robot_sim_demo)/urdf/robot.xacro" />
然后:wq
退出
然后执行:
pip install defusedxml
或者
pip3 install defusedxml
问题解决
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