UR机械臂仿真报错

1.启动

roslaunch ur_gazebo ur5_bringup.launch

报错：

[ERROR] [1709129749.378213139, 0.461000000]: Could not load controller 'joint_group_eff_controller' because controller type 'effort_controllers/JointGroupEffortController' does not exist.
[ERROR] [1709129749.378239485, 0.461000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1709129749.380215131, 0.463000000]: Could not load controller 'eff_joint_traj_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist.
[ERROR] [1709129749.380237236, 0.463000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1709129750.378655, 1.460000]: Failed to load joint_group_eff_controller
[ERROR] [1709129750.381327, 1.463000]: Failed to load eff_joint_traj_controller
安装插件：

sudo apt-get install ros-noetic-effort-controllers

sudo apt-get install ros-noetic-joint-trajectory-controller

2.启动：

roslaunch ur5_moveit_config moveit_rviz.launch

报错：

[ERROR] [1709129955.724137462, 34.819000000]: The kinematics plugin (manipulator) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are  cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin ur_kinematics/UR10KinematicsPlugin ur_kinematics/UR10eKinematicsPlugin ur_kinematics/UR16eKinematicsPlugin ur_kinematics/UR20KinematicsPlugin ur_kinematics/UR3KinematicsPlugin ur_kinematics/UR3eKinematicsPlugin ur_kinematics/UR5KinematicsPlugin ur_kinematics/UR5eKinematicsPlugin
[ERROR] [1709129955.724166614, 34.819000000]: Kinematics solver could not be instantiated for joint group manipulator.
安装插件

sudo apt-get install ros-noetic-trac-ik-kinematics-plugin

以上问题得到解决