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Ros报错汇总

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写入操作权限问题（Permission denied: ‘/home/louisli/.ros/roscore-11311.pid）

在搭建ROS的时候，各种工作都安装好了，兴致冲冲地运行roscore，结果出现了以下报错：

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Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 290, in main
    write_pid_file(options.pid_fn, options.core, options.port)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 112, in write_pid_file
    with open(pid_fn, "w") as f:
IOError: [Errno 13] Permission denied: '/home/louisli/.ros/roscore-11311.pid'

有Permission denied的话，大概率是权限问题，当时我没有直接修改文件夹的权限，而是直接在对应的目录touch了一个文件roscore-11311.pid。并且给予它权限：
在/home/louisli/.ros/ 下打开terminal：

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sudo touch roscore-11311.pid
sudo chmod 777 roscore-11311.pid

log文件夹写入权限不够”WARNING: cannot create log directory [/home/louisli/.ros/log/f37f52b6-de8d-11ed-baa4-000c29fa4201]. Please set ROS_LOG_DIR to a writable location.”

解决了上面的问题，我再次兴致冲冲地运行roscore，结果得到：

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WARNING: cannot create log directory [/home/louisli/.ros/log/f37f52b6-de8d-11ed-baa4-000c29fa4201]. Please set ROS_LOG_DIR to a writable location.
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
/usr/bin/du: cannot access '/home/louisli/.ros/log': No such file or directory

started roslaunch server http://ubuntu:33151/
ros_comm version 1.14.13


SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES

auto-starting new master
No handlers could be found for logger "roslaunch"
[master] ERROR: unable to configure logging [unable to create directory for log file [/home/louisli/.ros/log/f37f52b6-de8d-11ed-baa4-000c29fa4201].
Please check permissions.]
process[master]: started with pid [3018]
ROS_MASTER_URI=http://ubuntu:11311/

setting /run_id to f37f52b6-de8d-11ed-baa4-000c29fa4201
[rosout-1] ERROR: unable to configure logging [unable to create directory for log file [/home/louisli/.ros/log/f37f52b6-de8d-11ed-baa4-000c29fa4201].
Please check permissions.]
process[rosout-1]: started with pid [3029]
started core service [/rosout]
[rosout-1] process has died [pid 3029, exit code -6, cmd /opt/ros/melodic/lib/rosout/rosout __name:=rosout].
[rosout-1] restarting process
[rosout-1] ERROR: unable to configure logging [unable to create directory for log file [/home/louisli/.ros/log/f37f52b6-de8d-11ed-baa4-000c29fa4201].
Please check permissions.]
process[rosout-1]: started with pid [3037]
[rosout-1] process has died [pid 3037, exit code -6, cmd /opt/ros/melodic/lib/rosout/rosout __name:=rosout].
[rosout-1] restarting process
[rosout-1] ERROR: unable to configure logging [unable to create directory for log file [/home/louisli/.ros/log/f37f52b6-de8d-11ed-baa4-000c29fa4201].
Please check permissions.]
process[rosout-1]: started with pid [3042]
[rosout-1] process has died [pid 3042, exit code -6, cmd /opt/ros/melodic/lib/rosout/rosout __name:=rosout].
[rosout-1] restarting process
[rosout-1] ERROR: unable to configure logging [unable to create directory for log file [/home/louisli/.ros/log/f37f52b6-de8d-11ed-baa4-000c29fa4201].
Please check permissions.]
process[rosout-1]: started with pid [3047]
[rosout-1] process has died [pid 3047, exit code -6, cmd /opt/ros/melodic/lib/rosout/rosout __name:=rosout].
[rosout-1] restarting process
[rosout-1] ERROR: unable to configure logging [unable to create directory for log file [/home/louisli/.ros/log/f37f52b6-de8d-11ed-baa4-000c29fa4201].
Please check permissions.]
process[rosout-1]: started with pid [3052]
[rosout-1] process has died [pid 3052, exit code -6, cmd /opt/ros/melodic/lib/rosout/rosout __name:=rosout].
[rosout-1] restarting process
[rosout-1] ERROR: unable to configure logging [unable to create directory for log file [/home/louisli/.ros/log/f37f52b6-de8d-11ed-baa4-000c29fa4201].
Please check permissions.]
process[rosout-1]: started with pid [3057]
[rosout-1] process has died [pid 3057, exit code -6, cmd /opt/ros/melodic/lib/rosout/rosout __name:=rosout].
[rosout-1] restarting process
[rosout-1] ERROR: unable to configure logging [unable to create directory for log file [/home/louisli/.ros/log/f37f52b6-de8d-11ed-baa4-000c29fa4201].
Please check permissions.]
process[rosout-1]: started with pid [3062]
[rosout-1] process has died [pid 3062, exit code -6, cmd /opt/ros/melodic/lib/rosout/rosout __name:=rosout].
[rosout-1] restarting process
[rosout-1] ERROR: unable to configure logging [unable to create directory for log file [/home/louisli/.ros/log/f37f52b6-de8d-11ed-baa4-000c29fa4201].
Please check permissions.]

可以发现，节点一直在寻找可以使用的pid，但是一直没有找到。

所以我们关注一下最开头的报错：

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WARNING: cannot create log directory [/home/louisli/.ros/log/f37f52b6-de8d-11ed-baa4-000c29fa4201]. Please set ROS_LOG_DIR to a writable location.
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
/usr/bin/du: cannot access '/home/louisli/.ros/log': No such file or directory

可以发现，这里的问题在于log的路径权限不够，没法创建文件。所以我们如法炮制，还是创建一个文件夹，然后给它权限：

进入/home/louisli/.ros/,打开terminal

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sudo mkdir log
sudo chmod 777 ./log

这样再启动roscore便可以了。