參考這篇文章，分分鐘解決問題，感謝博主。
參考鏈接：
https://blog.csdn.net/m0_46259024/article/details/105333552

這里總結一下出現的問題。
問題1.roslaunch mbot_description display_mbot_base_urdf.launch報錯

[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*

解決方法：
1、joint_state_publisher_gui是剛更新出來的包，需要把之前的joint_state_publisher換成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釋，刪除掉中文注釋；

3、把原來的joint_state_publisher用joint_state_publisher_gui全部替換，就沒有警告了。

問題2.編譯urdf文件時，提示Error: Error reading end tag.

解決方法:
xml的文件都是以name和/name成對出現的

注意踏著寫參數半徑，關節的偏移設置

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版權聲明：本文為CSDN博主「鳴蜩。」的原創文章，遵循 CC 4.0 BY-SA 版權協議，轉載請附上原文出處鏈接及本聲明。
原文鏈接：https://blog.csdn.net/m0_46259024/article/details/105333552

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