gazebo运行ros仿真时<legacyModeNS>出错解决方法

若出现以下类型错误，则根据提示将设置为true即可

[ERROR] [1571789430.361235387, 1.388000000]: GazeboRosControlPlugin missing <legacyModeNS> while using DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead.
If you do not want to fix this issue in an old package just set <legacyModeNS> to true.

一般在机器人描述文件中以.gazebo.xacro为后缀的文件中，内容如下所示：

<gazebo>
  <static>false</static>

  <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
    <robotNamespace>/mugator_manip</robotNamespace>
    <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    <legacyModeNS>true</legacyModeNS>#在此设置
  </plugin>
</gazebo>

在该文件中加上 <legacyModeNS>true</legacyModeNS>即可解决问题。