ros仿真gazebo模型不动

gazebo 模型不动

添加了控制器之后，发布命令，gazebo中的模型没动静
后来才发现是从solidwork导出urdf的时候velocity和effort设置成0了
改过来就好了

 <limit lower="-3.14" upper="3.14" effort="100" velocity="1.0" />

附上launch文件

<launch>

  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>

  <!-- We resume the logic in empty_world.launch -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
  </include>

  <!-- Load the URDF into the ROS Parameter Server -->
  <!-- <param name="robot_description" command="$(find xacro)/xacro '$(find gluon)/urdf/robot_arm.xacro'" />  -->
  <param name="robot_description" textfile="$(find gluon)/urdf/robot_arm.urdf" /> 

  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
	args="-urdf -model robot_arm -param robot_description"/> 

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

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

  <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
	    respawn="false" output="screen" />
</launch>

和yaml文件

joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50  

robot_joint_controller:
  type: "position_controllers/JointTrajectoryController"
  joints:
    - j_1
    - j_2
    - j_3
    - j_4
    - j_5

  gains:
    joint1:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
    joint2:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
    joint3:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
    joint4:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
    joint5:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}