Gazebo+rivz联动报错：Unable to identify any set of controllers that can actuate the specified joints

在使用moveit对机械臂进行配置后，启动demo_gazebo.launch报错如下：

[ WARN] [1688175232.930768924, 359.533000000]: Failed to read controllers from /controller_manager/list_controllers
[ERROR] [1688175232.930839190, 359.533000000]: Unable to identify any set of controllers that can actuate the specified joints: [ foreArm_joint shoulder_joint upperArm_joint wrist1_joint wrist2_joint wrist3_joint ]
[ERROR] [1688175232.930871178, 359.533000000]: Known controllers and their joints:

[ERROR] [1688175232.930915666, 359.533000000]: Apparently trajectory initialization failed

 解决：

1.没有安装完整的包 （但我不是这个原因）

参考：ubuntu20.04_ROS中运行gazebo控制机器人模型报错_tudoukaihua的博客-CSDN博客

2.命名空间相关 （最终解决方案）

在使用的xacro或者urdf文件中，有这样几行代码：

<gazebo>
        <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
            <robotNamespace>/aubo_i5</robotNamespace>
        </plugin>
</gazebo>

注意到这里有/aubo_i5的ns，结合pid报错：

[ERROR] [1688174872.705100840]: No p gain specified for pid.  Namespace: /aubo_i5/gazebo_ros_control/pid_gains/shoulder_joint
[ERROR] [1688174872.705629967]: No p gain specified for pid.  Namespace: /aubo_i5/gazebo_ros_control/pid_gains/upperArm_joint
[ERROR] [1688174872.706135086]: No p gain specified for pid.  Namespace: /aubo_i5/gazebo_ros_control/pid_gains/foreArm_joint
[ERROR] [1688174872.706622912]: No p gain specified for pid.  Namespace: /aubo_i5/gazebo_ros_control/pid_gains/wrist1_joint
[ERROR] [1688174872.707091179]: No p gain specified for pid.  Namespace: /aubo_i5/gazebo_ros_control/pid_gains/wrist2_joint
[ERROR] [1688174872.707567789]: No p gain specified for pid.  Namespace: /aubo_i5/gazebo_ros_control/pid_gains/wrist3_joint

[WARN] [1688174903.059474, 30.291000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1688174903.066453, 30.299000]: Controller Spawner couldn't find the expected controller_manager ROS interface.

 可以看到是在/aubo_i5下找的控制器，而我的roscontrollers.launch中没有写controller_manager的ns参数

<launch>

  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find aubo_i5_moveit_config)/config/ros_controllers.yaml" command="load"/>

  <!-- Load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" args="controller_gazebo "/>

</launch>

所以我将/aubo_i5删掉，如下

<gazebo>
        <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
            <robotNamespace>/</robotNamespace>
        </plugin>
</gazebo>

启动demo_gazebo.launch，正常plan&execute

[ERROR] [1688175681.042191937]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_joint
[ERROR] [1688175681.042996266]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/upperArm_joint
[ERROR] [1688175681.043924942]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/foreArm_joint
[ERROR] [1688175681.044743047]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist1_joint
[ERROR] [1688175681.045200787]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist2_joint
[ERROR] [1688175681.045775736]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist3_joint

上面的pid报错可以不管

[INFO] [1688175681.251713, 0.203000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1688175681.251845, 0.203000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1688175681.254210, 0.205000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1688175681.254519, 0.205000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1688175681.256840, 0.208000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1688175681.257486, 0.208000]: Controller Spawner: Waiting for service controller_manager/unload_controller

3.其他参考：Gazebo controller spawner warning - ROS Answers: Open Source Q&A Forum