ROS-机器人建模URDF

这里总结一下出现的问题。
问题1.roslaunch mbot_description display_mbot_base_urdf.launch报错

[WARN] [1582867522.390661]: The ‘use_gui’ parameter was specified, which is deprecated. We’ll attempt to find and run the GUI, but if this fails you should install the ‘joint_state_publisher_gui’ package instead and run that. This backwards compatibility option will be removed in Noetic.
[ERROR] [1582867522.392212]: Could not find the GUI, install the ‘joint_state_publisher_gui’ package
[joint_state_publisher-2] process has died [pid 9056, exit code 1, cmd /opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/vtas/.ros/log/b6cbe59e-59ea-11ea-b2f1-84ef181f5770/joint_state_publisher-2.log].
log file: /home/vtas/.ros/log/b6cbe59e-59ea-11ea-b2f1-84ef181f5770/joint_state_publisher-2.log*

解决方法：
1、joint_state_publisher_gui是刚更新出来的包，需要把之前的joint_state_publisher换成joint_state_publisher_gui

sudo apt-get install ros-kinetic-joint-state-publisher-gui

2、URDF文件中不能有中文注释，删除掉中文注释；

3、把原来的joint_state_publisher用joint_state_publisher_gui全部替换，就没有警告了。

问题2.编译urdf文件时，提示Error: Error reading end tag.

解决方法:
xml的文件都是以name和/name成对出现的。