ROS报错：moveit_rviz.launch文件有问题

具体报错：

RLException: unused args [config] for include of [/home/ghh/catkin_ws/src/probot_anno_moveit_config/launch/moveit_rviz.launch]
The traceback for the exception was written to the log file
           

翻译：moveit_rviz.launch文件有问题，异常的回溯已写入日志文件

解决：

修改前

<launch>

  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

  <arg name="rviz_config" default="" />
  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />

  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
        args="$(arg command_args)" output="screen">
  </node>

</launch>
           

修改后

<launch>

  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

  <arg name="config" default="false" />
  <arg unless="$(arg config)" name="command_args" default="" />
  <arg     if="$(arg config)" name="command_args" default="-d $(find probot_anno_moveit_config)/launch/moveit.rviz" />

  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
	args="$(arg command_args)" output="screen">
    <rosparam command="load" file="$(find probot_anno_moveit_config)/config/kinematics.yaml"/>
  </node>

</launch>