ssh通信でPC越しにslamができない

[masuko-shingo]

ssh通信でslam.launchができない エラーメッセージ

masuko@masuko-PC-VKM24BZG1:~$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
... logging to /home/masuko/.ros/log/41c80dd4-1007-11ec-9831-7c7635a4ab69/roslaunch-masuko-PC-VKM24BZG1-19934.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
No such file or directory: /opt/ros/melodic/share/turtlebot3_description/urdf/turtlebot3_.urdf.xacro
RLException: while processing /opt/ros/melodic/share/turtlebot3_bringup/launch/turtlebot3_remote.launch:
while processing /opt/ros/melodic/share/turtlebot3_bringup/launch/includes/description.launch.xml:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '--inorder', '/opt/ros/melodic/share/turtlebot3_description/urdf/turtlebot3_.urdf.xacro']] returned with code [2]. 

Param xml is <param command="$(arg urdf_file)" name="robot_description"/>
The traceback for the exception was written to the log file

和訳

そのようなファイルまたはディレクトリはありません。/opt/ros/melodic/share/turtlebot3_description/urdf/turtlebot3_.urdf.xacro
RLException: /opt/ros/melodic/share/turtlebot3_bringup/launch/turtlebot3_remote.launchの処理中に発生しました。
/opt/ros/melodic/share/turtlebot3_bringup/launch/includes/description.launch.xmlの処理中。
無効な<param>タグです。Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '--inorder', '/opt/ros/melodic/share/turtlebot3_description/urdf/turtlebot3_.urdf.xacro'] はコード[2]で返されました。] 

Param xml は <param command="$(arg urdf_file)" name="robot_description"/> です。
この例外のトレースバックがログファイルに書き込まれました

turtlebot3_.urdf.xacroがあるか確認

masuko@masuko-PC-VKM24BZG1:~$ cd /opt/ros/melodic/share/turtlebot3_description/urdf/
masuko@masuko-PC-VKM24BZG1:/opt/ros/melodic/share/turtlebot3_description/urdf$ ls
common_properties.xacro
turtlebot3_burger.gazebo.xacro
turtlebot3_burger.urdf.xacro
turtlebot3_burger_for_autorace.gazebo.xacro
turtlebot3_burger_for_autorace.urdf.xacro
turtlebot3_burger_for_autorace_2020.gazebo.xacro
turtlebot3_burger_for_autorace_2020.urdf.xacro
turtlebot3_waffle.gazebo.xacro
turtlebot3_waffle.urdf.xacro
turtlebot3_waffle_for_open_manipulator.urdf.xacro
turtlebot3_waffle_pi.gazebo.xacro
turtlebot3_waffle_pi.urdf.xacro
turtlebot3_waffle_pi_for_open_manipulator.gazebo.xacro
turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro

存在しない
/opt/ros/melodic/share/turtlebot3_bringup/launch/includes/description.launch.xmlを確認

<launch>
  <arg name="model"/>
  <arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro'" />
  <param name="robot_description" command="$(arg urdf_file)" />
</launch>
~                    

おそらく$(arg model)がちゃんと入っていない

[masuko-shingo]

おそらく$(arg model)がちゃんと入っていない /opt/ros/melodic/share/turtlebot3_bringup/launch/includes/description.launch.xml
変更前

<launch>
  <arg name="model"/>
  <arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro'" />
  <param name="robot_description" command="$(arg urdf_file)" />
</launch>
~                    

変更後

<launch>
  <arg name="model"/>
  <arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find turtlebot3_description)/urdf/turtlebot3_burger.urdf.xacro'" />
  <param name="robot_description" command="$(arg urdf_file)" />
</launch>
~

$(arg model)をburgerに直打ちにした