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  1. <launch>
  2.  
  3.     <!-- ROS parameters -->
  4.     <!-- remote machine (wheatley) -->
  5.  
  6.  
  7.     <group>
  8.         <machine name="wheatley" address="192.168.1.237" env-loader="/home/nvidia/catkin_ws/devel/env.sh" user="nvidia" password="nvidia" default="true" />
  9.         <include file="freenect.launch"/>
  10.                     <arg name="depth_registration" value="true" />
  11.                     <arg name="publish_tf" value="false" />
  12.         <include file="mpu_9250.launch" />
  13.  
  14.         <arg name="model" default="wheatley.urdf"/>
  15.  
  16.         <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)"/>
  17.  
  18.  
  19.         <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  20.                 <param name="use_gui" value="false" />
  21.         <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
  22.             <param name="use_gui" value="false" />
  23.  
  24.  
  25.             <!-- IMU frame: just over the RGB camera -->
  26.             <!--node pkg="tf" type="static_transform_publisher" name="rgb_to_imu_tf" args="0 0.0 0 0.0 0.0 0.0 /sensor_link /imu_link 50" /-->
  27.  
  28.             <arg name="pi/2" value="1.5707963267948966" />
  29.             <arg name="optical_rotate" value="0 0 0 0 0 0" />
  30.             <node pkg="tf" type="static_transform_publisher" name="optical_rotation" args="$(arg optical_rotate) /sensor_link /camera_link 50" />
  31.  
  32.         <include file="rtabmap.launch">
  33.             <arg name="rtabmap_args" value="--delete_db_on_start"/>
  34.         </include>
  35.     </group>
  36.  
  37. </launch>
  38.    
  39. Traceback (most recent call last):
  40.   File "/home/nvidia/catkin_ws/src/joint_state_publisher/joint_state_publisher/joint_state_publisher", line 474, in <module>
  41.     jsp = JointStatePublisher()
  42.   File "/home/nvidia/catkin_ws/src/joint_state_publisher/joint_state_publisher/joint_state_publisher", line 149, in __init__
  43.     robot = xml.dom.minidom.parseString(description)
  44.   File "/usr/lib/python2.7/xml/dom/minidom.py", line 1928, in parseString
  45.     return expatbuilder.parseString(string)
  46.   File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 940, in parseString
  47.     return builder.parseString(string)
  48.   File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 223, in parseString
  49.     parser.Parse(string, True)
  50. TypeError: Parse() argument 1 must be string or read-only buffer, not None
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