ROS机器人高效编程（原书第3版）第六章 导航功能包集进阶 为导航功能包集创建启动文件出错

ROS机器人高效编程（原书第3版）封面

运行下面命令，rviz出错： 

$ roslaunch chapter6_tutorials chapter6_configuration_gazebo.launch 
$ roslaunch chapter6_tutorials move_base.launch 

 1.若rviz报告错误，“No transform from [front_left] to [base_link]”

因为urdf是Unicode编码的，运行安装命令:

$ sudo apt-get install unicode

2.修改 chapter6_configuration_gazebo.launch ，在其文件最后加上

<node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map /odom 100" /> 

chapter6_configuration_gazebo.launch 完整wen 

<?xml version="1.0"?>
<launch>

  	<param name="/use_sim_time" value="true" />

	<!-- <remap from="robot/laser/scan" to="/scan" />  -->
  	<!-- start up wg world -->
	<include file="$(find gazebo_ros)/launch/willowgarage_world.launch" />

  	<arg name="model" default="$(find robot1_description)/urdf/robot1_base_04.xacro"/> 
  	<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" /> 	
	<!-- <param name="robot_description" command="$(find xacro)/xacro.py $(find robot1_description)/urdf/robot1_base_04.xacro" /> -->

  	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
  	<!-- start robot state publisher -->
 	<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />

	<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -z 0.1 -model robot_model" respawn="false" output="screen" />
	
	<node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map /odom 100" /> 

	<!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find chapter6_tutorials)/launch/navigation.rviz" />  -->

</launch>