Navigation 运行move\u base.launch错误：[move\u base-4]进程已停止[pid 3825，退出代码-11。。。。。。

运行move_base.launch实现导航时出现问题，终端错误信息为：

[move_base-4] process has died [pid 3825, exit code -11, cmd /opt/ros/indigo/lib/move_base/move_base __name:=move_base __log:=/home/youjian/.ros/log/b66363a2-96cf-11e6-9e46-e4f89cf5c788/move_base-4.log].
log file: /home/youjian/.ros/log/b66363a2-96cf-11e6-9e46-e4f89cf5c788/move_base-4*.log

我没有找到move_base-4.log，但是我在

master.log

中找到了错误信息，错误信息是：

[rosmaster.threadpool][**ERROR**] 2016-10-20 22:16:04,075: Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
    xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1233, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1587, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1273, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1301, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1448, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python2.7/httplib.py", line 975, in endheaders
    self._send_output(message_body)
  File "/usr/lib/python2.7/httplib.py", line 835, in _send_output
    self.send(msg)
  File "/usr/lib/python2.7/httplib.py", line 797, in send
    self.connect()
  File "/usr/lib/python2.7/httplib.py", line 778, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 571, in create_connection
    raise err
**error**: [Errno 111] Connection refused

事实上，我以前试过运行move_base.launch，但是机器人的导航很奇怪，所以我想让move_base节点打印cmd_vel信息。因为我在/opt/ros/indigo中找不到move_base.cpp，所以我从Github复制了move_base包并修改了包，然后在catkin_ws中创建了catkin_。但是，我没有做到。所以我删除了all与catkin_ws中的move_base相关的文件，结果是我无法再运行move_base.launch并不断报告上述错误

我试过重新安装ros indigo move base，但没有成功。有人能给我一些帮助或建议吗？我需要重新安装ros吗？>。。。