urdf中文注释导致的字符问题

运行joint_state_publisher/joint_state_publisher_gui报错
错误如下：

[joint_state_publisher_gui-4] process has died [pid 97153, exit code 1, cmd /opt/ros/melodic/lib/joint_state_publisher_gui/joint_state_publisher_gui __name:=joint_state_publisher_gui __log:=/home/ros/.ros/log/4422783c-0504-11ee-8b5a-000c29b0c758/joint_state_publisher_gui-4.log].
log file: /home/ros/.ros/log/4422783c-0504-11ee-8b5a-000c29b0c758/joint_state_publisher_gui-4*.log

 

原因：一般均因为urdf內部含有中文字符

解决方案：

1.将urdf文件内部中文字符全部刪除；
2.修改joint_state_publisher和 joint_state_publisher_gui 配置
　　cd /opt/ros/melodic/lib/joint_state_publisher （joint_state_publisher_gui类似）
　　sudo gedit joint_state_publisher
　　修改
　　在import sys後面加

reload(sys)
sys.setdefaultencoding(“utf-8”)

 

若仍然報錯修改執行權限：

　　cd /opt/ros/melodic/lib/joint_state_publisher

　　chmod 777 joint_state_publisher