使用gdb调试VINS-mono的ROS节点时，碰到这么一个报错：
process[feature_tracker-2]: started with pid [8459] RLException: Roslaunch got a 'No such file or directory' error while attempting to run:
xterm -e gdb --args /home/matthew/projects/vinsmono/devel/lib/vins_estimator/vins_estimator __name:=vins_estimator __log:=/home/matthew/.ros/log/5eeae726-84a9-11ec-ad3c-378f34e64432/vins_estimator-3.log
Please make sure that all the executables in this command exist and have executable permission. This is often caused by a bad launch-prefix. The traceback for the exception was written to the log file
查了一下，原来是没有安装xterm。
解决办法：
sudo apt-get install xterm本文结束。
参考资料：
ros项目调试:ROS项目使用GDB调试_Coulson的博客-CSDN博客_ros程序调试
