[robot

robot"/>

[robot

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