turtlebot2 gmapping demo problem
when I roslaunch turtlebot_navigation gmapping_demo.launch
I get this error:
while processing /opt/ros/kinetic/share/turtlebot_bringup/launch/3dsensor.launch:
while processing /opt/ros/kinetic/share/turtlebot_bringup/launch/includes/3dsensor/d435.launch.xml:
while processing opt/ros/kinetic/share/realsense2_camera/launch/rs_d435_camera_with_model.launch:
Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'opt/ros/kinetic/share/realsense2_camera/launch/rs_d435_camera_with_model.launch'
The traceback for the exception was written to the log file
The file in question(d435.launch.xml) is this:
<launch>
<!--
"camera" should uniquely identify the device. All topics are pushed down
into the "camera" namespace, and it is prepended to tf frame ids.
-->
<arg name="camera" default="camera"/>
<arg name="publish_tf" default="false"/>
<!--
Factory-calibrated depth registration
NOTE: HW Registration not supported by R200 camera
-->
<arg name="depth_registration" default="false"/>
<arg if="$(arg depth_registration)" name="depth" value="depth_registered"/>
<arg unless="$(arg depth_registration)" name="depth" value="depth"/>
<!-- Processing Modules -->
<arg name="rgb_processing" default="true"/>
<arg name="ir_processing" default="true"/>
<arg name="depth_processing" default="true"/>
<arg name="depth_registered_processing" default="true"/>
<arg name="disparity_processing" default="true"/>
<arg name="disparity_registered_processing" default="true"/>
<arg name="scan_processing" default="true"/>
<!-- Worker threads for the nodelet manager -->
<arg name="num_worker_threads" default="4"/>
<include file="opt/ros/kinetic/share/realsense2_camera/launch/rs_d435_camera_with_model.launch">
<arg name="camera" value="$(arg camera)"/>
<arg name="camera_type" value="d435"/>
<arg name="publish_tf" value="$(arg publish_tf)"/>
<arg name="num_worker_threads" value="$(arg num_worker_threads)"/>
<!-- Processing Modules -->
<arg name="rgb_processing" value="$(arg rgb_processing)"/>
<arg name="ir_processing" value="$(arg ir_processing)"/>
<arg name="depth_processing" value="$(arg depth_processing)"/>
<arg name="depth_registered_processing" value="$(arg depth_registered_processing)"/>
<arg name="disparity_processing" value="$(arg disparity_processing)"/>
<arg name="disparity_registered_processing" value="$(arg disparity_registered_processing)"/>
</include>
</launch>
The file the error says is missing, is in actuality, not missing at all. This is the file:
<launch>
<arg name="serial_no" default=""/>
<arg name="json_file_path" default=""/>
<arg name="camera" default="camera"/>
<arg name="tf_prefix" default="$(arg camera)"/>
<arg name="external_manager" default="false"/>
<arg name="manager" default="realsense2_camera_manager"/>
<arg name="fisheye_width" default="640"/>
<arg name="fisheye_height" default="480"/>
<arg name="enable_fisheye" default="false"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="enable_depth" default="true"/>
<arg name="infra_width" default="640"/>
<arg name="infra_height" default="480"/>
<arg name="enable_infra1" default="true"/>
<arg name="enable_infra2" default="true"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="enable_color" default="true"/>
<arg name="fisheye_fps" default="30"/>
<arg name="depth_fps" default="30"/>
<arg name="infra_fps" default="30"/>
<arg name="color_fps" default="30"/>
<arg name="gyro_fps" default="400"/>
<arg name="accel_fps" default="250"/>
<arg name="enable_gyro" default="true"/>
<arg name="enable_accel" default="true"/>
<arg name="enable_pointcloud" default="false"/>
<arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
<arg name="pointcloud_texture_index" default="0"/>
<arg name="enable_sync" default="false"/>
<arg name="align_depth" default="false"/>
<arg name="filters" default="pointcloud"/>
<arg name="clip_distance" default="-2"/>
<arg name="linear_accel_cov" default="0.01"/>
<arg name="initial_reset" default="false"/>
<arg name="unite_imu_method" default=""/>
<arg name="topic_odom_in" default="odom_in"/>
<arg name="calib_odom_file" default=""/>
<arg name="publish_odom_tf" default="true"/>
<arg name="allow_no_texture_points" default="false"/>
<group ns="$(arg camera)">
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="external_manager" value="$(arg external_manager)"/>
<arg name="manager" value="$(arg manager)"/>
<arg name="serial_no" value="$(arg serial_no)"/>
<arg name="json_file_path" value="$(arg json_file_path)"/>
<arg name="enable_pointcloud" value="$(arg enable_pointcloud)"/>
<arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
<arg name="pointcloud_texture_index" value="$(arg pointcloud_texture_index)"/>
<arg name="enable_sync" value="$(arg enable_sync)"/>
<arg name="align_depth" value="$(arg align_depth)"/>
<arg name="fisheye_width" value="$(arg fisheye_width)"/>
<arg name="fisheye_height" value="$(arg fisheye_height)"/>
<arg name="enable_fisheye" value="$(arg enable_fisheye)"/>
<arg name="depth_width" value="$(arg depth_width)"/>
<arg name="depth_height" value="$(arg depth_height)"/>
<arg name="enable_depth" value="$(arg enable_depth)"/>
<arg name="color_width" value="$(arg color_width)"/>
<arg name="color_height" value="$(arg color_height)"/>
<arg name="enable_color" value="$(arg enable_color)"/>
<arg name="infra_width" value="$(arg infra_width)"/>
<arg name="infra_height" value="$(arg infra_height)"/>
<arg name="enable_infra1" value="$(arg enable_infra1)"/>
<arg name="enable_infra2" value="$(arg enable_infra2)"/>
<arg name="fisheye_fps" value="$(arg fisheye_fps)"/>
<arg name="depth_fps" value="$(arg depth_fps)"/>
<arg name="infra_fps" value="$(arg infra_fps)"/>
<arg name="color_fps" value="$(arg color_fps)"/>
<arg name="gyro_fps" value="$(arg gyro_fps)"/>
<arg name="accel_fps" value="$(arg accel_fps)"/>
<arg name="enable_gyro" value="$(arg enable_gyro)"/>
<arg name="enable_accel" value="$(arg enable_accel)"/>
<arg name="filters" value="$(arg filters)"/>
<arg name="clip_distance" value="$(arg clip_distance)"/>
<arg name="linear_accel_cov" value="$(arg linear_accel_cov)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
<arg name="unite_imu_method" value="$(arg unite_imu_method)"/>
<arg name="topic_odom_in" value="$(arg topic_odom_in)"/>
<arg name="calib_odom_file" value="$(arg calib_odom_file)"/>
<arg name="publish_odom_tf" value="$(arg publish_odom_tf)"/>
<arg name="allow_no_texture_points" value="$(arg allow_no_texture_points)"/>
</include>
</group>
<!-- Loads the camera model -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_description)/urdf/test_d435_camera.urdf.xacro' use_nominal_extrinsics:=false"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_description)/rviz/urdf.rviz" required="true"/>
</launch>
Not sure why I am getting this error
Asked by distro on 2022-06-14 23:17:12 UTC
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