URDF集成Gazebo时报错：unknown macro name: xacro:cylinder_inertial_matrix

<robot name="my_car1" xmlns:xacro="http://wiki.ros.org/xacro">

<xacro:include filename="$(find urdf01_rviz)/urdf_gazebo/car_base.xacro" />

<xacro:include filename="$(find urdf01_rviz)/urdf_gazebo/camera.xacro" />

<xacro:include filename="$(find urdf01_rviz)/urdf_gazebo/laser.xacro" />

<xacro:include filename="$(find urdf01_rviz)/urdf_gazebo/head.xacro" />

</robot>

以这个顺序启动gazebo的时候报错unknown macro name: xacro:cylinder_inertial_matrix是因为启动顺序问题导致一开始没有定义cylinder_inertial_matrix，这时只需要将<xacro:include filename="$(find urdf01_rviz)/urdf_gazebo/head.xacro" />放在顺序第一个即可。

即：

<robot name="my_car1" xmlns:xacro="http://wiki.ros.org/xacro">

<xacro:include filename="$(find urdf01_rviz)/urdf_gazebo/head.xacro" />

<xacro:include filename="$(find urdf01_rviz)/urdf_gazebo/car_base.xacro" />

<xacro:include filename="$(find urdf01_rviz)/urdf_gazebo/camera.xacro" />

<xacro:include filename="$(find urdf01_rviz)/urdf_gazebo/laser.xacro" />

<xacro:include filename="$(find urdf01_rviz)/urdf_gazebo/head.xacro" />

</robot>