嘗試使用TIAGo機器人進行SLAM時，運行 roslaunch tiago_2dnav_gazebo tiago_mapping.launch public_sim:=true 指令時加載TIAGo機器人失敗，報錯：terminate called after throwing an instance of 'pluginlib::LibraryLoadException' what(): ?According to the loaded plugin descriptions the class range_sensor_layer::RangeSensorLayer with base class type costmap_2d::Layer does not exist. Declared types are ?costmap_2d::InflationLayer costmap_2d::ObstacleLayer costmap_2d::StaticLayer costmap_2d::VoxelLayer
[move_base-24] process has died [pid 25956, exit code -6, cmd /opt/ros/kinetic/lib/move_base/move_base odom:=mobile_base_controller/odom cmd_vel:=nav_vel __name:=move_base __log:=/home/lhj/.ros/log/edbf89e2-6330-11ec-8a0c-907841bf18b9/move_base-24.log].
log file: /home/lhj/.ros/log/edbf89e2-6330-11ec-8a0c-907841bf18b9/move_base-24*.log

原因：一開始看到紅色的報錯，以為是move-base相關的ROS包沒安裝，所以首先運行以下指令，安裝move-base相關的所有ROS包，如下。

sudo apt install ros-kinetic-move-base*

?安裝后仍然報錯，后來才注意到那一段白的提示：terminate called after throwing an instance of 'pluginlib::LibraryLoadException' what(): ?According to the loaded plugin descriptions the class range_sensor_layer::RangeSensorLayer with base class type costmap_2d::Layer does not exist. Declared types are ?costmap_2d::InflationLayer costmap_2d::ObstacleLayer costmap_2d::StaticLayer costmap_2d::VoxelLayer。

解決：既然提示我們range_sensor_layer::RangeSensorLayer和costmap::Layer不存在，經過搜索后，發現range_sensor_layer和costmap_2d是兩個ROS包，運行以下指令安裝兩個包后即可正常加載TIAGo機器人，并進行機器人導航，如下圖。

sudo apt install ros-kinetic-range-sensor-layer sudo apt install ros-kinetic-costmap-2d

總結

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