关于moveit-rviz-gazebo联动的一些问题

启动roslaunch sunday_gazebo sunday_bringup_moveit.launch 和后，可以正常显示rviz和gazebo的模型，但是moveit可以控制rviz的机械臂，却不能控制gazebo的机械臂，报错为

[ERROR] [1715237392.477447431, 656.358000000]: Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 joint3 ]
[ERROR] [1715237392.477486024, 656.358000000]: Known controllers and their joints:
controller 'sunday/arm_joint_controller' controls joints:
  joint_1
  joint_2
  joint_3

[ERROR] [1715237392.477540135, 656.358000000]: Apparently trajectory initialization failed

这里参考了这几个解决方案

解决方案1

解决方案2

最后也要确认controllers_gazebo.yaml文件、ros_controllers.yaml、ros_controllers.yaml里面的关节名要一致