运行launch文件报错

[yudonghou123]

系统ubuntu22.04 ros2 humble
我在先后运行两个launch文件时，一个终端报出下面问题：

<launch>
  <arg name="uuv_name" default="eca_a9"/>
  <!-- Vehicle's initial position -->
  <arg name="x" default="0"/>
  <arg name="y" default="0"/>
  <arg name="z" default="-20"/>
  <arg name="yaw" default="0.0"/>

  <arg name="gui_on" default="true"/>

  <arg name="record" default="false"/>
  <arg name="bag_filename" default="recording.bag"/>

  <arg name="use_ned_frame" default="false"/>

  <arg name="joy_id" default="0"/>

  <include file="$(find-pkg-share eca_a9_description)/launch/upload_eca_a9.launch">
    <arg name="namespace" value="$(var uuv_name)"/>
    <arg name="x" value="$(var x)"/>
    <arg name="y" value="$(var y)"/>
    <arg name="z" value="$(var z)"/>
    <arg name="yaw" value="$(var yaw)"/>
  </include>

  <!-- This node just reads the trajectory and waypoint topics and publishes
       visualization markers for RViz -->
  <group if="$(var gui_on)">
    <group>
      <push-ros-namespace namespace="$(var uuv_name)"/>
      <node  pkg="uuv_control_utils"
             exec="trajectory_marker_publisher.py"
             name="trajectory_marker_publisher"
             output="screen">
         <remap from="trajectory" to="dp_controller/trajectory"/>
         <remap from="waypoints" to="dp_controller/waypoints"/>
         <remap from="reference" to="dp_controller/reference"/>
      </node>
    </group>
  </group>  

  <include file="$(find-pkg-share eca_a9_control)/launch/start_nmb_sm_control.launch"/>
    
  <include file="$(find-pkg-share uuv_control_utils)/launch/send_waypoints_file.launch">
    <arg name="uuv_name" value="eca_a9"/>
    <arg name="filename" value="$(find-pkg-share eca_a9_gazebo)/config/waypoint_set.yaml"/>
    <arg name="interpolator" value="dubins"/>
  </include>

  <!-- Initialize the recording afo the simulation according to the record flag  -->
 <!--   <include file="$(find eca_a9_gazebo)/launch/record_demo.launch">
    <arg name="record" value="$(arg record)"/>
    <arg name="use_ned_frame" value="$(arg use_ned_frame)"/>
    <arg name="bag_filename" value="$(arg bag_filename)"/>
  </include> -->
</launch>

<launch>
    <arg name="uuv_name" default="eca_a9"/>
    <arg name="gui_on" default="true"/>

    <arg name="use_ned_frame" default="false"/>

    <arg name="teleop_on" default="false"/>
    <arg name="joy_id" default="0"/>
    <arg name="axis_yaw" default="0"/>
    <arg name="axis_x" default="4"/>
    <arg name="axis_y" default="3"/>
    <arg name="axis_z" default="1"/>

    <arg name="Kd" default="[24.328999405818507,95.16574836816616,25.943377407248825,0,6.388371356010936,79.2844976871164]"/>
    <arg name="Ki" default="[0.0010232768152540483,0.0010232768152540483,0.0010232768152540483,0,0.11901644069756079,0.11901644069756079]"/>
    <arg name="slope" default="[0.9903858668992097,0.9903858668992097,0.9903858668992097,0,0.20796465986893387,0.20796465986893387]"/>

    <arg name="look_ahead_delay" default="2.0"/>
    <arg name="min_thrust" default="40"/>

    <include file="$(find-pkg-share eca_a9_control)/launch/start_control_allocator.launch"/>

    <group>
      <push-ros-namespace namespace="$(var uuv_name)"/>
      <node pkg="uuv_trajectory_control"
            exec="rov_nmb_sm_controller.py"
            name="rov_nmb_sm_controller"
            output="screen"
            if="$(var use_ned_frame)">
        <!-- Remap necessary topics -->
        <remap from="odom" to="pose_gt_ned"/>
        <remap from="trajectory" to="dp_controller/trajectory"/>
        <remap from="input_trajectory" to="dp_controller/input_trajectory"/>
        <remap from="waypoints" to="dp_controller/waypoints"/>
        <remap from="error" to="dp_controller/error"/>
        <remap from="reference" to="dp_controller/reference"/>
        <remap from="thruster_output" to="thruster_manager/input_stamped"/>
        <remap from="auv_command_output" to="control_allocation/control_input"/>
        <!-- Controller parameters -->
        <param name="subst_value" value="true">
            <param name="saturation" value="200"/>
            <param name="thrusters_only" value="false"/>
            <param name="Kd" value="$(var Kd)"/>
            <param name="Ki" value="$(var Ki)"/>
            <param name="slope" value="$(var slope)"/>
            <param name="inertial_frame_id" value="world_ned"/>
            <param name="max_forward_speed" value="3.0"/>
            <param name="use_stamped_poses_only" value="false"/>
            <param name="look_ahead_delay" value="$(var look_ahead_delay)"/>
            <param name="min_thrust" value="$(var min_thrust)"/>
            <param name="dubins">
              <param name="radius" value="25"/>
              <param name="max_pitch" value="0.09"/>
            </param>
           <!-- saturation: 200
           thrusters_only: false
           Kd: $(var Kd)
           Ki: $(var Ki)
           slope: $(var slope)
           inertial_frame_id: world_ned
           max_forward_speed: 3.0
           use_stamped_poses_only: false
           look_ahead_delay: $(var look_ahead_delay)
           min_thrust: $(var min_thrust)
           dubins: 
            radius: 25
            max_pitch: 0.09 -->
        </param>
      </node>

      <node pkg="uuv_trajectory_control"
            exec="rov_nmb_sm_controller.py"
            name="rov_nmb_sm_controller"
            output="screen"
            unless="$(var use_ned_frame)">
        <!-- Remap necessary topics -->
        <remap from="odom" to="pose_gt"/>
        <remap from="trajectory" to="dp_controller/trajectory"/>
        <remap from="input_trajectory" to="dp_controller/input_trajectory"/>
        <remap from="waypoints" to="dp_controller/waypoints"/>
        <remap from="error" to="dp_controller/error"/>
        <remap from="reference" to="dp_controller/reference"/>
        <remap from="thruster_output" to="thruster_manager/input_stamped"/>
        <remap from="auv_command_output" to="control_allocation/control_input"/>
        <!-- Controller parameters -->
        <param name="subst_value" value="true">
           <param name="saturation" value="200"/>
            <param name="thrusters_only" value="false"/>
            <param name="Kd" value="$(var Kd)"/>
            <param name="Ki" value="$(var Ki)"/>
            <param name="slope" value="$(var slope)"/>
            <param name="inertial_frame_id" value="world"/>
            <param name="max_forward_speed" value="3.0"/>
            <param name="use_stamped_poses_only" value="false"/>
            <param name="look_ahead_delay" value="$(var look_ahead_delay)"/>
            <param name="min_thrust" value="$(var min_thrust)"/>
            <param name="dubins">
              <param name="radius" value="25"/>
              <param name="max_pitch" value="0.09"/>
            </param>
           <!-- saturation: 200
           thrusters_only: false
           Kd: $(var Kd)
           Ki: $(var Ki)
           slope: $(var slope)
           inertial_frame_id: world
           max_forward_speed: 3.0
           use_stamped_poses_only: false
           look_ahead_delay: $(var look_ahead_delay)
           min_thrust: $(var min_thrust)
           dubins: 
             radius: 25
            max_pitch: 0.09 -->
        </param>
      </node>
    </group>

    <group if="$(var gui_on)">
        <node name="rviz" pkg="rviz2" exec="rviz2" output="screen" args="-d $(find-pkg-share eca_a9_control)/rviz/eca_a9_control.rviz"/>
    </group>
</launch>

终端输出问题：

[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught exception when trying to load file of format [launch]: nested parameters and value attributes are mutually exclusive

请问各位大佬，这是怎么回事呢？

[yudonghou123]

@yudonghou123 大佬们，我发现是这个launch文件出错了，大佬们能帮我看看是launch标签用的不对吗？

<launch>
    <arg name="uuv_name" default="eca_a9"/>
    <arg name="gui_on" default="true"/>

    <arg name="use_ned_frame" default="false"/>

   <!--     <arg name="teleop_on" default="false"/>
    <arg name="joy_id" default="0"/>
    <arg name="axis_yaw" default="0"/>
    <arg name="axis_x" default="4"/>
    <arg name="axis_y" default="3"/>
    <arg name="axis_z" default="1"/> -->
    

    <arg name="Kd" default="[24.328999405818507,95.16574836816616,25.943377407248825,0,6.388371356010936,79.2844976871164]"/>
    <arg name="Ki" default="[0.0010232768152540483,0.0010232768152540483,0.0010232768152540483,0,0.11901644069756079,0.11901644069756079]"/>
    <arg name="slope" default="[0.9903858668992097,0.9903858668992097,0.9903858668992097,0,0.20796465986893387,0.20796465986893387]"/>

    <arg name="look_ahead_delay" default="2.0"/>
    <arg name="min_thrust" default="40"/>
    <arg name="subst_value" default="true"/>
    <arg name="saturation" default="200"/>
    <arg name="thrusters_only" default="false"/>

    <arg name="max_forward_speed" default="3.0"/>
    <arg name="use_stamped_poses_only" default="false"/>
    <arg name="inertial_frame_id" default="world"/><!-- 和use_ned_frame有关 -->

    <include file="$(find-pkg-share eca_a9_control)/launch/start_control_allocator.launch"/>
    
    <group if="$(var use_ned_frame)">
      <push-ros-namespace namespace="$(var uuv_name)"/>
      <node pkg="uuv_trajectory_control"
            exec="rov_nmb_sm_controller.py"
            name="rov_nmb_sm_controller"
            output="screen">
        <!-- Remap necessary topics -->
        <remap from="odom" to="pose_gt_ned"/>
        <remap from="trajectory" to="dp_controller/trajectory"/>
        <remap from="input_trajectory" to="dp_controller/input_trajectory"/>
        <remap from="waypoints" to="dp_controller/waypoints"/>
        <remap from="error" to="dp_controller/error"/>
        <remap from="reference" to="dp_controller/reference"/>
        <remap from="thruster_output" to="thruster_manager/input_stamped"/>
        <remap from="auv_command_output" to="control_allocation/control_input"/>
        <!-- Controller parameters -->
        <param name="subst_value" value="true">
            <param name="saturation" value="200"/>
            <param name="thrusters_only" value="false"/>
            <param name="Kd" value="$(var Kd)"/>
            <param name="Ki" value="$(var Ki)"/>
            <param name="slope" value="$(var slope)"/>
            <param name="inertial_frame_id" value="world_ned"/>
            <param name="max_forward_speed" value="3.0"/>
            <param name="use_stamped_poses_only" value="false"/>
            <param name="look_ahead_delay" value="$(var look_ahead_delay)"/>
            <param name="min_thrust" value="$(var min_thrust)"/>
            <param name="dubins">
               <param name="radius" value="25"/>
               <param name="max_pitch" value="0.09"/>
            </param>
        </param>
      </node>
    </group>

    <group unless="$(var use_ned_frame)">
      <push-ros-namespace namespace="$(var uuv_name)"/>
      <node pkg="uuv_trajectory_control"
            exec="rov_nmb_sm_controller.py"
            name="rov_nmb_sm_controller"
            output="screen">
        <!-- Remap necessary topics -->
        <remap from="odom" to="pose_gt"/>
        <remap from="trajectory" to="dp_controller/trajectory"/>
        <remap from="input_trajectory" to="dp_controller/input_trajectory"/>
        <remap from="waypoints" to="dp_controller/waypoints"/>
        <remap from="error" to="dp_controller/error"/>
        <remap from="reference" to="dp_controller/reference"/>
        <remap from="thruster_output" to="thruster_manager/input_stamped"/>
        <remap from="auv_command_output" to="control_allocation/control_input"/>
        <!-- Controller parameters -->
        <param name="subst_value" value="$(var subst_value)">
            <param name="saturation" value="($var saturation)"/>
            <param name="thrusters_only" value="($var thrusters_only)"/>
            <param name="Kd" value="$(var Kd)"/>
            <param name="Ki" value="$(var Ki)"/>
            <param name="slope" value="$(var slope)"/>
            <param name="inertial_frame_id" value="$(var inertial_frame_id)"/>
            <param name="max_forward_speed" value="$(var max_forward_speed)"/>
            <param name="use_stamped_poses_only" value="$(var use_stamped_poses_only)"/>
            <param name="look_ahead_delay" value="$(var look_ahead_delay)"/>
            <param name="min_thrust" value="$(var min_thrust)"/>
            <param name="dubins">
                <param name="radius" value="25"/>
                <param name="max_pitch" value="0.09"/>
           </param>
          </param>
      </node>
    </group>

    <!-- <group if="$(var gui_on)">
        <node name="rviz" pkg="rviz2" exec="rviz2" output="screen" args="-d $(find-pkg-share eca_a9_control)/rviz/eca_a9_control.rviz"/>
    </group> -->
</launch>

[小伊]

这个launch文件的格式看起来没有问题，但可能是缺少一些必要的节点或参数导致无法正常运行。您可以提供更多的错误信息或日志信息，以便更好地诊断问题所在。

---

以上为生成回答，仅供参考～

[yudonghou123]

@小伊 终端输出问题如下

[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught exception when trying to load file of format [launch]: nested parameters and value attributes are mutually exclusive

[小伊]

这个错误提示表明在加载一个 .launch 文件时出现了错误，可能是因为在该文件中同时使用了 <param> 标签和 value 属性，这两个是互斥的。

你可以通过检查该 .launch 文件，找到并删除同时使用 <param> 和 value 的标签，或者将它们分别使用不同的标签进行定义。如果你仍然无法解决问题，请尝试提供更详细的错误信息和相关的代码片段，以便我们更好地帮助你解决问题。

---

以上为生成回答，仅供参考～

[yudonghou123]

@小伊 代码是这样的

<launch>
    <arg name="uuv_name" default="eca_a9"/>
    <arg name="gui_on" default="true"/>

    <arg name="use_ned_frame" default="false"/>

   <!--     <arg name="teleop_on" default="false"/>
    <arg name="joy_id" default="0"/>
    <arg name="axis_yaw" default="0"/>
    <arg name="axis_x" default="4"/>
    <arg name="axis_y" default="3"/>
    <arg name="axis_z" default="1"/> -->
    

    <arg name="Kd" default="[24.328999405818507,95.16574836816616,25.943377407248825,0,6.388371356010936,79.2844976871164]"/>
    <arg name="Ki" default="[0.0010232768152540483,0.0010232768152540483,0.0010232768152540483,0,0.11901644069756079,0.11901644069756079]"/>
    <arg name="slope" default="[0.9903858668992097,0.9903858668992097,0.9903858668992097,0,0.20796465986893387,0.20796465986893387]"/>

    <arg name="look_ahead_delay" default="2.0"/>
    <arg name="min_thrust" default="40"/>
  

    <include file="$(find-pkg-share eca_a9_control)/launch/start_control_allocator.launch"/>
    
    <group if="$(var use_ned_frame)">
      <push-ros-namespace namespace="$(var uuv_name)"/>
      <node pkg="uuv_trajectory_control"
            exec="rov_nmb_sm_controller.py"
            name="rov_nmb_sm_controller"
            output="screen">
        <!-- Remap necessary topics -->
        <remap from="odom" to="pose_gt_ned"/>
        <remap from="trajectory" to="dp_controller/trajectory"/>
        <remap from="input_trajectory" to="dp_controller/input_trajectory"/>
        <remap from="waypoints" to="dp_controller/waypoints"/>
        <remap from="error" to="dp_controller/error"/>
        <remap from="reference" to="dp_controller/reference"/>
        <remap from="thruster_output" to="thruster_manager/input_stamped"/>
        <remap from="auv_command_output" to="control_allocation/control_input"/>
        <!-- Controller parameters -->
        <param name="subst_value" value="true">
            <param name="saturation" value="200"/>
            <param name="thrusters_only" value="false"/>
            <param name="Kd" value="$(var Kd)"/>
            <param name="Ki" value="$(var Ki)"/>
            <param name="slope" value="$(var slope)"/>
            <param name="inertial_frame_id" value="world_ned"/>
            <param name="max_forward_speed" value="3.0"/>
            <param name="use_stamped_poses_only" value="false"/>
            <param name="look_ahead_delay" value="$(var look_ahead_delay)"/>
            <param name="min_thrust" value="$(var min_thrust)"/>
            <param name="dubins">
               <param name="radius" value="25"/>
               <param name="max_pitch" value="0.09"/>
            </param>
        </param>
      </node>
    </group>

    <group unless="$(var use_ned_frame)">
      <push-ros-namespace namespace="$(var uuv_name)"/>
      <node pkg="uuv_trajectory_control"
            exec="rov_nmb_sm_controller.py"
            name="rov_nmb_sm_controller"
            output="screen">
        <!-- Remap necessary topics -->
        <remap from="odom" to="pose_gt"/>
        <remap from="trajectory" to="dp_controller/trajectory"/>
        <remap from="input_trajectory" to="dp_controller/input_trajectory"/>
        <remap from="waypoints" to="dp_controller/waypoints"/>
        <remap from="error" to="dp_controller/error"/>
        <remap from="reference" to="dp_controller/reference"/>
        <remap from="thruster_output" to="thruster_manager/input_stamped"/>
        <remap from="auv_command_output" to="control_allocation/control_input"/>
        <!-- Controller parameters -->
        <param name="subst_value" value="$(var subst_value)">
            <param name="saturation" value="($var saturation)"/>
            <param name="thrusters_only" value="($var thrusters_only)"/>
            <param name="Kd" value="$(var Kd)"/>
            <param name="Ki" value="$(var Ki)"/>
            <param name="slope" value="$(var slope)"/>
            <param name="inertial_frame_id" value="$(var inertial_frame_id)"/>
            <param name="max_forward_speed" value="$(var max_forward_speed)"/>
            <param name="use_stamped_poses_only" value="$(var use_stamped_poses_only)"/>
            <param name="look_ahead_delay" value="$(var look_ahead_delay)"/>
            <param name="min_thrust" value="$(var min_thrust)"/>
            <param name="dubins">
                <param name="radius" value="25"/>
                <param name="max_pitch" value="0.09"/>
           </param>
          </param>
      </node>
    </group>

    <!-- <group if="$(var gui_on)">
        <node name="rviz" pkg="rviz2" exec="rviz2" output="screen" args="-d $(find-pkg-share eca_a9_control)/rviz/eca_a9_control.rviz"/>
    </group> -->
</launch>

[小伊]

因为帐号不够，导致您的问题处理时出现错误，如有帐号分享请发给小伊！

---

以上为生成回答，仅供参考～

[yudonghou123]

@小伊 在launch文件出现这种问题怎么解决

Caught exception in launch (see debug for traceback): Caught exception when trying to load file of format [launch]: nested parameters and value attributes are mutually exclusive