ROS小白碰壁记之4 读入地图

教程：古神ROS十四-move_base
1.$ roscore
2.运行节点

$ roslaunch rbx1_bringup fake_turtlebot.launch

3.读入地图

$ roslaunch rbx1_nav fake_move_base_blank_map.launch  

第一次运行正常，
第二次出现问题

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.重装rbx1，出现问题

$ 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

解决：

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

又出现问题

[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

那么问题来了：catkin_ws 和arbotix_ros环境变量冲突？

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

添加环境变量顺序不同，输出路径不同，含有的路径不同？？