ROS常见问题（二） 运行文件时报错environment variable ' ###_MODEL' is not set

作者在配置pibot机器人时报错：

Invalid <arg> tag: environment variable 'PIBOT_MODEL' is not set.

Arg xml is <arg default="$(env PIBOT_MODEL)" doc="model type [apollo, zeus, hades, hera]" name="model"/>
The traceback for the exception was written to the log file

解决方案：

环境未配置

配置环境即可

./pibot_init_env.sh
source ~/.bashrc

其中，pibot_init_env.sh文件源码如下：

 #!/bin/bash

 if ! [ $PIBOT_ENV_INITIALIZED ]; then
     echo "export PIBOT_ENV_INITIALIZED=1" >> ~/.bashrc
     echo "source ~/.pibotrc" >> ~/.bashrc

     #rules
     echo "setup pibot modules"
     echo " "
     sudo cp rules/pibot.rules  /etc/udev/rules.d
     sudo cp rules/rplidar.rules  /etc/udev/rules.d
     sudo cp rules/ydlidar.rules  /etc/udev/rules.d
     sudo cp rules/orbbec.rules  /etc/udev/rules.d
     echo " "
     echo "Restarting udev"
     echo ""
     sudo service udev reload
     sudo service udev restart
 fi

 code_name=$(lsb_release -sc)

 if [ "$code_name" = "trusty" ]; then
     ros_version="indigo"
 elif [ "$code_name" = "xenial" ]; then
     ros_version="kinetic"
 else
     echo "PIBOT not support "$code_name
     exit
 fi 

 echo "source /opt/ros/${ros_version}/setup.bash" > ~/.pibotrc

 #LOCAL_IP=`ifconfig eth0|grep "inet addr:"|awk -F":" '{print $2}'|awk '{print $1}'`
 #LOCAL_IP=`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print $2}' | awk -F"/" '{print $1}'`

 #if [ ! ${LOCAL_IP} ]; then
 #    echo "please check network"
 #    exit
 #fi

 LOCAL_IP=`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print $2}' | awk -F"/" '{print $1}'`
 echo "LOCAL_IP=\`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print \$2}' | awk -F"/" '{print \$1}'\`" >> ~/.pibotrc

 if [ ! ${LOCAL_IP} ]; then
     echo "please check network"
     exit
 fi

 read -p "please specify pibot model(0:apollo,1:apolloX,2:zeus,3:hera,4:hades,other for user defined):" PIBOT_MODEL_INPUT

 if [ "$PIBOT_MODEL_INPUT" = "" ]; then
     PIBOT_MODEL='apollo'
 elif [ "$PIBOT_MODEL_INPUT" = "" ]; then
     PIBOT_MODEL='apolloX'
 elif [ "$PIBOT_MODEL_INPUT" = "" ]; then
     PIBOT_MODEL='zeus'
 elif [ "$PIBOT_MODEL_INPUT" = "" ]; then
     PIBOT_MODEL='hera'
 elif [ "$PIBOT_MODEL_INPUT" = "" ]; then
     PIBOT_MODEL='hades'
 else
     PIBOT_MODEL=$PIBOT_MODEL_INPUT
 fi

 read -p "please specify your pibot lidar(0:rplidar,1:rplidar-a3,2:eai-x4,3:eai-g4,4:xtion,5:astra,6:kinectV1,other for user defined):" PIBOT_LIDAR_INPUT

 if [ "$PIBOT_LIDAR_INPUT" = "" ]; then
     PIBOT_LIDAR='rplidar'
 elif [ "$PIBOT_LIDAR_INPUT" = "" ]; then
     PIBOT_LIDAR='rplidar-a3'
 elif [ "$PIBOT_LIDAR_INPUT" = "" ]; then
     PIBOT_LIDAR='eai-x4'
 elif [ "$PIBOT_LIDAR_INPUT" = "" ]; then
     PIBOT_LIDAR='eai-g4'
 elif [ "$PIBOT_LIDAR_INPUT" = "" ]; then
     PIBOT_LIDAR='xtion'
 elif [ "$PIBOT_LIDAR_INPUT" = "" ]; then
     PIBOT_LIDAR='astra'
 elif [ "$PIBOT_LIDAR_INPUT" = "" ]; then
     PIBOT_LIDAR='kinectV1'
 else
     PIBOT_LIDAR=$PIBOT_LIDAR_INPUT
 fi

 echo "export ROS_IP=\`echo \$LOCAL_IP\`" >> ~/.pibotrc
 echo "export ROS_HOSTNAME=\`echo \$LOCAL_IP\`" >> ~/.pibotrc
 echo "export PIBOT_MODEL=${PIBOT_MODEL}" >> ~/.pibotrc
 echo "export PIBOT_LIDAR=${PIBOT_LIDAR}" >> ~/.pibotrc

 read -p "please select specify the current machine(ip:$LOCAL_IP) type(0:onboard,other:remote):" PIBOT_MACHINE_VALUE
 if [ "$PIBOT_MACHINE_VALUE" = "" ]; then
     ROS_MASTER_IP_STR="\`echo \$LOCAL_IP\`"
     ROS_MASTER_IP=`echo $LOCAL_IP`
 else
     read -p "plase specify the onboard machine ip for commnicationi:" PIBOT_ONBOARD_MACHINE_IP
     ROS_MASTER_IP_STR=`echo $PIBOT_ONBOARD_MACHINE_IP`
     ROS_MASTER_IP=`echo $PIBOT_ONBOARD_MACHINE_IP`
 fi

 echo "export ROS_MASTER_URI=`echo http://${ROS_MASTER_IP_STR}:11311`" >> ~/.pibotrc

 echo "*****************************************************************"
 echo "model: " $PIBOT_MODEL
 echo "lidar:" $PIBOT_LIDAR
 echo "local_ip: " ${LOCAL_IP}
 echo "onboard_ip:" ${ROS_MASTER_IP}
 echo ""
 echo "please execute source ~/.bashrc to make the configure effective"
 echo "*****************************************************************"

 echo "source ~/pibot_ros/ros_ws/devel/setup.bash" >> ~/.pibotrc 

 #alias
 echo "alias pibot_bringup='roslaunch pibot_bringup bringup.launch'" >> ~/.pibotrc
 echo "alias pibot_bringup_with_imu='roslaunch pibot_bringup bringup_with_imu.launch'" >> ~/.pibotrc
 echo "alias pibot_lidar='roslaunch pibot_bringup ${PIBOT_LIDAR}.launch'" >> ~/.pibotrc
 echo "alias pibot_base='roslaunch pibot_bringup robot.launch'" >> ~/.pibotrc
 echo "alias pibot_base_with_imu='roslaunch pibot_bringup robot_with_imu.launch'" >> ~/.pibotrc
 echo "alias pibot_control='roslaunch pibot keyboard_teleop.launch'" >> ~/.pibotrc 

 echo "alias pibot_gmapping='roslaunch pibot_navigation gmapping.launch'" >> ~/.pibotrc
 echo "alias pibot_gmapping_with_imu='roslaunch pibot_navigation gammaping_with_imu.launch'" >> ~/.pibotrc
 echo "alias pibot_save_map='roslaunch pibot_navigation save_map.launch'" >> ~/.pibotrc 

 echo "alias pibot_naviagtion='roslaunch pibot_navigation nav.launch'" >> ~/.pibotrc
 echo "alias pibot_naviagtion_with_imu='roslaunch pibot_navigation nav_with_imu.launch'" >> ~/.pibotrc
 echo "alias pibot_view='roslaunch pibot_navigation view_nav.launch'" >> ~/.pibotrc 

 echo "alias pibot_cartographer='roslaunch pibot_navigation cartographer.launch'" >> ~/.pibotrc
 echo "alias pibot_view_cartographer='roslaunch pibot_navigation view_cartographer.launch'" >> ~/.pibotrc 

 echo "alias pibot_hector_mapping='roslaunch pibot_navigation hector_mapping.launch'" >> ~/.pibotrc
 echo "alias pibot_hector_mapping_without_imu='roslaunch pibot_navigation hector_mapping_without_odom.launch'" >> ~/.pibotrc 

 echo "alias pibot_karto_slam='roslaunch pibot_navigation karto_slam.launch'" >> ~/.pibotrc 

其他出现类似报错的可以参考上面的代码直接把环境变量加到～/.bashrc里面。