1 Listening to /tf for 5.0 seconds
2 Done Listening
3 b'dot - graphviz version 2.43.0 (0)\n'
4 Traceback (most recent call last):
5   File "/opt/ros/melodic/lib/tf/view_frames", line 119, in <module>
6     generate(dot_graph)
7   File "/opt/ros/melodic/lib/tf/view_frames", line 89, in generate
8     m = r.search(vstr)
9 TypeError: cannot use a string pattern on a bytes-like object

打开出问题的文件：

"/opt/ros/melodic/lib/tf/view_frames"

用下面代码替换掉89行：

m = r.search(vstr.decode('utf-8'))