rosrun,roslaunch: cannot launch node or is either a launch file in package

[bzrobot_global.launch] is neither a launch file in package [bzrobot_global] nor is [bzrobot_globa] a launch file name
The traceback for the exception was written to the log file

或者

ERROR: cannot launch node of type [bzrobot_yk/bzrobot_yk]: bzrobot_yk
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/wsh/code/bzrobotd
ROS path [2]=/opt/ros/kinetic/share

ros使用的过程中，有时候明明有某个node或者launch文件，但是rosrun 或者roslaunch启动的时候，就是找不着：

此时可打打印下 ROS_PACKAGE_PATH的路径

echo $ROS_PACKAGE_PATH

看一下工作路径是否含有，如果不含有，在.bashrc中添加（.bashrc 在home路径下，最好添加在最后一行，不然其他环境变量可能会覆盖）

export ROS_PACKAGE_PATH=/home/wsh/sw-build/devel:$ROS_PACKAGE_PATH

author: wsh

email: [email protected]