ROS 소백 벽치기 4 지도 읽기

튜토리얼: 고신 ROS 14-move_base 1. $ roscore 2.실행 노드

$ roslaunch rbx1_bringup fake_turtlebot.launch

3. 지도 읽기

$ roslaunch rbx1_nav fake_move_base_blank_map.launch  

첫 번째는 정상적으로 작동하고 두 번째는 문제가 발생한다
ERROR: cannot launch node of type [map_server/map_server]: map_server ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/home/yx/catkin_ws/src ROS path [2]=/home/yx/arbotix_ros/src ROS path [3]=/home/yx/dashgo_ws/src ROS path [4]=/opt/ros/kinetic/share ERROR: cannot launch node of type [move_base/move_base]: move_base ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/home/yx/catkin_ws/src ROS path [2]=/home/yx/arbotix_ros/src ROS path [3]=/home/yx/dashgo_ws/src ROS path [4]=/opt/ros/kinetic/share
4. rbx1 재장착, 문제 발생

$ roslaunch rbx1_bringup fake_turtlebot.launch

ERROR: cannot launch node of type [arbotix_python/arbotix_driver]: arbotix_python ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/home/yx/catkin_ws/src ROS path [2]=/opt/ros/kinetic/share
해결:

echo "source ~/arbotix_ros/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

또 문제가 생기다
[fake_turtlebot.launch] is neither a launch file in package [rbx1_bringup] nor is [rbx1_bringup] a launch file name The traceback for the exception was written to the log file
그럼 질문이 왔습니다:catkin_ws 및 arbotix_ros 환경 변수 충돌?

yx@yx:~$ gedit ~/.bashrc
yx@yx:~$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
yx@yx:~$ echo "source ~/arbotix_ros/devel/setup.bash" >> ~/.bashrc
yx@yx:~$ source ~/.bashrc
yx@yx:~$ echo $ROS_PACKAGE_PATH
/home/yx/arbotix_ros/src:/home/yx/dashgo_ws/src:/opt/ros/kinetic/share
yx@yx:~$ echo "source ~/arbotix_ros/devel/setup.bash" >> ~/.bashrc
yx@yx:~$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
yx@yx:~$ source ~/.bashrc
yx@yx:~$ echo $ROS_PACKAGE_PATH
/home/yx/catkin_ws/src:/opt/ros/kinetic/share

추가 환경 변수 순서가 다르고 출력 경로가 다르며 포함된 경로가 다릅니까?