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：
1 #!/bin/bash
2
3 if ! [ $PIBOT_ENV_INITIALIZED ]; then
4 echo "export PIBOT_ENV_INITIALIZED=1" >> ~/.bashrc
5 echo "source ~/.pibotrc" >> ~/.bashrc
6
7 #rules
8 echo "setup pibot modules"
9 echo " "
10 sudo cp rules/pibot.rules /etc/udev/rules.d
11 sudo cp rules/rplidar.rules /etc/udev/rules.d
12 sudo cp rules/ydlidar.rules /etc/udev/rules.d
13 sudo cp rules/orbbec.rules /etc/udev/rules.d
14 echo " "
15 echo "Restarting udev"
16 echo ""
17 sudo service udev reload
18 sudo service udev restart
19 fi
20
21 code_name=$(lsb_release -sc)
22
23 if [ "$code_name" = "trusty" ]; then
24 ros_version="indigo"
25 elif [ "$code_name" = "xenial" ]; then
26 ros_version="kinetic"
27 else
28 echo "PIBOT not support "$code_name
29 exit
30 fi
31
32 echo "source /opt/ros/${ros_version}/setup.bash" > ~/.pibotrc
33
34
35 #LOCAL_IP=`ifconfig eth0|grep "inet addr:"|awk -F":" '{print $2}'|awk '{print $1}'`
36 #LOCAL_IP=`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print $2}' | awk -F"/" '{print $1}'`
37
38 #if [ ! ${LOCAL_IP} ]; then
39 # echo "please check network"
40 # exit
41 #fi
42
43 LOCAL_IP=`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print $2}' | awk -F"/" '{print $1}'`
44 echo "LOCAL_IP=\`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print \$2}' | awk -F"/" '{print \$1}'\`" >> ~/.pibotrc
45
46 if [ ! ${LOCAL_IP} ]; then
47 echo "please check network"
48 exit
49 fi
50
51 read -p "please specify pibot model(0:apollo,1:apolloX,2:zeus,3:hera,4:hades,other for user defined):" PIBOT_MODEL_INPUT
52
53 if [ "$PIBOT_MODEL_INPUT" = "0" ]; then
54 PIBOT_MODEL='apollo'
55 elif [ "$PIBOT_MODEL_INPUT" = "1" ]; then
56 PIBOT_MODEL='apolloX'
57 elif [ "$PIBOT_MODEL_INPUT" = "2" ]; then
58 PIBOT_MODEL='zeus'
59 elif [ "$PIBOT_MODEL_INPUT" = "3" ]; then
60 PIBOT_MODEL='hera'
61 elif [ "$PIBOT_MODEL_INPUT" = "4" ]; then
62 PIBOT_MODEL='hades'
63 else
64 PIBOT_MODEL=$PIBOT_MODEL_INPUT
65 fi
66
67 read -p "please specify your pibot lidar(0:rplidar,1:rplidar-a3,2:eai-x4,3:eai-g4,4:xtion,5:astra,6:kinectV1,other for user defined):" PIBOT_LIDAR_INPUT
68
69 if [ "$PIBOT_LIDAR_INPUT" = "0" ]; then
70 PIBOT_LIDAR='rplidar'
71 elif [ "$PIBOT_LIDAR_INPUT" = "1" ]; then
72 PIBOT_LIDAR='rplidar-a3'
73 elif [ "$PIBOT_LIDAR_INPUT" = "2" ]; then
74 PIBOT_LIDAR='eai-x4'
75 elif [ "$PIBOT_LIDAR_INPUT" = "3" ]; then
76 PIBOT_LIDAR='eai-g4'
77 elif [ "$PIBOT_LIDAR_INPUT" = "4" ]; then
78 PIBOT_LIDAR='xtion'
79 elif [ "$PIBOT_LIDAR_INPUT" = "5" ]; then
80 PIBOT_LIDAR='astra'
81 elif [ "$PIBOT_LIDAR_INPUT" = "6" ]; then
82 PIBOT_LIDAR='kinectV1'
83 else
84 PIBOT_LIDAR=$PIBOT_LIDAR_INPUT
85 fi
86
87 echo "export ROS_IP=\`echo \$LOCAL_IP\`" >> ~/.pibotrc
88 echo "export ROS_HOSTNAME=\`echo \$LOCAL_IP\`" >> ~/.pibotrc
89 echo "export PIBOT_MODEL=${PIBOT_MODEL}" >> ~/.pibotrc
90 echo "export PIBOT_LIDAR=${PIBOT_LIDAR}" >> ~/.pibotrc
91
92 read -p "please select specify the current machine(ip:$LOCAL_IP) type(0:onboard,other:remote):" PIBOT_MACHINE_VALUE
93 if [ "$PIBOT_MACHINE_VALUE" = "0" ]; then
94 ROS_MASTER_IP_STR="\`echo \$LOCAL_IP\`"
95 ROS_MASTER_IP=`echo $LOCAL_IP`
96 else
97 read -p "plase specify the onboard machine ip for commnicationi:" PIBOT_ONBOARD_MACHINE_IP
98 ROS_MASTER_IP_STR=`echo $PIBOT_ONBOARD_MACHINE_IP`
99 ROS_MASTER_IP=`echo $PIBOT_ONBOARD_MACHINE_IP`
100 fi
101
102 echo "export ROS_MASTER_URI=`echo http://${ROS_MASTER_IP_STR}:11311`" >> ~/.pibotrc
103
104 echo "*****************************************************************"
105 echo "model: " $PIBOT_MODEL
106 echo "lidar:" $PIBOT_LIDAR
107 echo "local_ip: " ${LOCAL_IP}
108 echo "onboard_ip:" ${ROS_MASTER_IP}
109 echo ""
110 echo "please execute source ~/.bashrc to make the configure effective"
111 echo "*****************************************************************"
112
113 echo "source ~/pibot_ros/ros_ws/devel/setup.bash" >> ~/.pibotrc
114
115 #alias
116 echo "alias pibot_bringup='roslaunch pibot_bringup bringup.launch'" >> ~/.pibotrc
117 echo "alias pibot_bringup_with_imu='roslaunch pibot_bringup bringup_with_imu.launch'" >> ~/.pibotrc
118 echo "alias pibot_lidar='roslaunch pibot_bringup ${PIBOT_LIDAR}.launch'" >> ~/.pibotrc
119 echo "alias pibot_base='roslaunch pibot_bringup robot.launch'" >> ~/.pibotrc
120 echo "alias pibot_base_with_imu='roslaunch pibot_bringup robot_with_imu.launch'" >> ~/.pibotrc
121 echo "alias pibot_control='roslaunch pibot keyboard_teleop.launch'" >> ~/.pibotrc
122
123 echo "alias pibot_gmapping='roslaunch pibot_navigation gmapping.launch'" >> ~/.pibotrc
124 echo "alias pibot_gmapping_with_imu='roslaunch pibot_navigation gammaping_with_imu.launch'" >> ~/.pibotrc
125 echo "alias pibot_save_map='roslaunch pibot_navigation save_map.launch'" >> ~/.pibotrc
126
127 echo "alias pibot_naviagtion='roslaunch pibot_navigation nav.launch'" >> ~/.pibotrc
128 echo "alias pibot_naviagtion_with_imu='roslaunch pibot_navigation nav_with_imu.launch'" >> ~/.pibotrc
129 echo "alias pibot_view='roslaunch pibot_navigation view_nav.launch'" >> ~/.pibotrc
130
131 echo "alias pibot_cartographer='roslaunch pibot_navigation cartographer.launch'" >> ~/.pibotrc
132 echo "alias pibot_view_cartographer='roslaunch pibot_navigation view_cartographer.launch'" >> ~/.pibotrc
133
134 echo "alias pibot_hector_mapping='roslaunch pibot_navigation hector_mapping.launch'" >> ~/.pibotrc
135 echo "alias pibot_hector_mapping_without_imu='roslaunch pibot_navigation hector_mapping_without_odom.launch'" >> ~/.pibotrc
136
137 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。