turtlebot|两个错误修改日志

1.errror:[ERROR] [1388762076.282169241]: Skipping XML Document "/opt/ros/indigo/share/gmapping/nodelet_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing.

解决：“/opt/ros/indigo/share/gmapping/nodelet_plugins.xml” which had no Root Element.

以前包的bug现在新版本已经修复了，该提示一般不会影响其他节点使用。如果需要修复，可以找到相对应xml文件，复制到该目录即可。

这里给出一份xml文件：
nodelet_plugins.xml

cd /opt/ros/indigo/share/gmapping
sudo gedit nodelet_plugins.xml
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<library path="lib/libslam_gmapping_nodelet">
  <class name="SlamGMappingNodelet" type="SlamGMappingNodelet" base_class_type="nodelet::Nodelet">
  <description>
  Nodelet ROS wrapper for OpenSlam's Gmapping.
  </description>
  </class>
</library>
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改完之后，又出现以下错误…

2. You must specify at least three points for the robot footprint,reverting to previous footprint

解决：[问题]You must specify at least three points for the robot footprint,reverting to previous footprint 的解决办法

roscd turtlebot_navigation
cd param
sudo gedit costmap_common_params.yaml
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做如下更改

#robot_radius: 0.20  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
footprint: [[0.1, 0.1], [-0.1, 0.1], [-0.1, -0.1], [0.1, -0.1] ]  # if the robot is not circular
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[更改日期]：2018-10-28,下午三点半