记moveit+gazebo仿真错误

1.这个错误找遍整个CSDN都没有答案，最后还是在一个知乎大佬那里找到的答案！！

Exception while loading controller manager 'irb120': According to the loaded plugin descriptions the class irb120 with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are  moveit_fake_controller_manager/MoveItFakeControllerManager moveit_ros_control_interface::MoveItControllerManager moveit_ros_control_interface::MoveItMultiControllerManager moveit_simple_controller_manager/MoveItSimpleControllerManager

 

 

 解决办法：

这个定位到moveit助手生成的launch文件夹的一个文件：

~/ROS/catkin_ws_DL/src/irb120_moveit_config/launch/trajectory_execution.launch.xml

定位到

改为

此时再去执行仿真，plan与execute就都没问题。终端也不会报错。问题解决！！！