error1 exec: /home/kobe/mbot_ws/src/navigation/costmap_2d/cfg/Costmap2D.cfg: Permission denied exec: /home/kobe/mbot_ws/src/navigation/amcl/cfg/AMCL.cfg: Permission denied exec: /home/kobe/mbot_ws/src/navigation/costmap_2d/cfg/InflationPlugin.cfg: Permission denied exec: /home/kobe/mbot_ws/src/navigation/costmap_2d/cfg/Costmap2D.cfg: Permission denied exec: /home/kobe/mbot_ws/src/navigation/costmap_2d/cfg/GenericPlugin.cfg: Permission denied exec: /home/kobe/mbot_ws/src/navigation/dwa_local_planner/cfg/DWAPlanner.cfg: Permission denied 原因是权限错误 首先查看有没有执行权限 ls +文件名 添加可执行权限 chmod +x /home/kobe/mbot_ws/src/navigation/amcl/cfg/AMCL.cfg chmod +x /home/kobe/mbot_ws/src/navigation/base_local_planner/cfg/BaseLocalPlanner.cfg /chmod +x /home/kobe/mbot_ws/src/navigation/costmap_2d/cfg/InflationPlugin.cfg chmod +x /home/kobe/mbot_ws/src/navigation/costmap_2d/cfg/Costmap2D.cfg chmod +x /home/kobe/mbot_ws/src/navigation/costmap_2d/cfg/GenericPlugin.cfg chmod +x /home/kobe/mbot_ws/src/navigation/dwa_local_planner/cfg/DWAPlanner.cfg
如果在文件夹及其子文件夹中包含多个需要添加执行的文件，可以使用下面的指令来给该文件夹下的所有文件添加权限 chmod -R +x 文件夹
error2 [robot_pose_ekf-9] process has died [pid 31024, exit code -6, cmd /home/kobe/mbot_ws/devel/lib/robot_pose_ekf/robot_pose_ekf /imu_data:=/imu_data __name:=robot_pose_ekf __log:=/home/kobe/.ros/log/8ee0ed74-f672-11eb-8f55-b89a2a2631d5/robot_pose_ekf-9.log]. log file: /home/kobe/.ros/log/8ee0ed74-f672-11eb-8f55-b89a2a2631d5/robot_pose_ekf-9*.log 原因 下载的ekf包可能launch文件没有修改，是launch里面的话题名称错误了，因为一个是odom，一个是odom_combined
error3 Could not find the required component 'mavros_msgs'. The following CMake error indicates that you either need to install the package with the same出现这个情况，是因为缺少 manipulation_msgs sudo apt-get install ros-kinetic-manipulation-msgs
error4 mavros_msgsConfig.cmake sudo apt-get install ros-kinetic-mavros-msgs
sudo apt-get install ros-kinetic-mavros-msgs
mavros_msgs
error5 WARN] [1522398152.672156241]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_footprint’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.105784 timeout was 0.1.
这时我们需要在acml_demo.launch文件中加上
error6
这个错误是因为ekf那个包的版本不同导致的，替换成相应版本才可以。。。
总结：
直接移植别人工程，主要存在问题：
1 文件权限问题
2 ros功能包的版本问题
3 环境依赖不完整
4 tf树和源码方面的适配
