关于ROS中出现的错误对应的解决办法

各种报错警告解决办法：

1.出警告的话，

urdf的标签缺少hardware_interface/

[ WARN] [1592977254.131172803, 0.157000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘shoulder_pan_joint’.

把src/as_arm_description/urdf中的as_arm.urdf文件中的所有PositionJointInterface

替换为hardware_interface/PositionJointInterface

2.没有指定pid

[ERROR] [1647226302.992227091, 0.354000000]: No p gain specified for pid. Namespace: /as_arm/gazebo_ros_control/pid_gains/wristy_rot_joint

(据说可以忽略不管)

##在~/catkin_ws_MADDPG/src/as_arm_gazebo/config里的trajectory_control.yaml文件中的PID参数

参考连接：gazebo仿真中遇到的坑_Dcr_Hs的博客-CSDN博客

ROS 使用 gazebo 仿真时遇到的问题_菜鸡张小张的博客-CSDN博客

3.启动Rviz报错

[ INFO] [1614517180.004391235]: Initializing OMPL interface using ROS parameters

[ERROR] [1614517180.007093808]: Could not find the planner configuration 'None' on the param server

[ERROR] [1614517180.016398790]: Could not find the planner configuration 'None' on the param server

[ INFO] [1614517180.029887540]: Using planning interface 'OMPL'

在~/catkin_ws_MADDPG/src/as_arm_moveit_config/config中ompl_planning.yaml文件中

arm:

default_planner_config: None

gripper:

default_planner_config: None

None全改为RRTConnect。

 

4.No sensor plugin specified for octomap updater 0; ignoring.

在~/catkin_ws_MADDPG/src/as_arm_moveit_config/launch中的as_arm_moveit_sensor_manager.launch.xml文件中加上

- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater

在~/catkin_ws_MADDPG/src/as_arm_moveit_config/config中的sensors_3d.yaml文件中去掉{}，并添加如下内容。

sensors:

- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater

point_cloud_topic: /kinect/depth_registered/points

max_range: 5.0

frame_subsample: 1

point_subsample: 1

self_mask:

min_sensor_dist: .8

self_see_default_padding: .04

self_see_default_scale: 1.0

self_see_links:

- name: katana_internal_controlbox_link

- name: katana_base_link

- name: katana_motor1_pan_link

- name: katana_motor2_lift_link

padding: 0.06

- name: katana_motor3_lift_link

padding: 0.06

- name: katana_motor4_lift_link

padding: 0.06

- name: katana_motor5_wrist_roll_link

padding: 0.04

- name: katana_gripper_link

padding: 0.02

- name: katana_l_finger_link

padding: 0.02

- name: katana_r_finger_link

padding: 0.02

- name: kurtana_baseplate_link

- name: laser

- name: kurtana_pole_link

- name: kurtana_innerpole_stretch_link

这是我遇到的一些问题的解决办法，其中有的问题可能别的博主已经指出，但是由于格式不正确，在这里明确格式，复制完可以完美解决。