Invalid tag: Cannot load command parameter ....

ROS机器人开发建模

编辑URDF文件，运行launch文件，报如下错误：

Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/xacro/xacro", line 33, in
    xacro.main()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/xacro/__init__.py", line 1073, in main
    out.write(doc.toprettyxml(indent='  '))
UnicodeEncodeError: 'ascii' codec can't encode characters in position 13187-13188: ordinal not in range(128)
Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xa
cro --inorder '/home/jin/catkin_ws/src/mrobot_gazebo/urdf/mrobot.urdf.xacro'] returned with code [1].

Param xml is e="robot_description"/>
The traceback for the exception was written to the log file

主要原因是编辑urdf文件加入了中文注释，删除中文注释即可。