gazebo仿真时在加入差分运动插件后没有cmd_vel话题

一、问题描述：

gazebo仿真时在加入差分运动插件后没有cmd_vel话题

joes@joes:~/jiao/ROS_Project$ roslaunch ros23_urdf02_gazebo demo03_gazebo_env.launch
... logging to /home/joes/.ros/log/6cceca6e-4837-11ec-9542-14f6d8d77445/roslaunch-joes-10392.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
started roslaunch server http://localhost:40573/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.17
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    spawn_model1 (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [10416]
process[gazebo_gui-2]: started with pid [10421]
process[spawn_model1-3]: started with pid [10426]
[ INFO] [1637235817.256610584]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1637235817.257288041]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1637235817.258918130]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1637235817.261062997]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/inputmethods/libqimsw-multi.so"
keys ("imsw-multi")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/inputmethods/qtim-fcitx.so"
keys ("fcitx")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqgif.so"
keys ("gif")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqico.so"
keys ("ico")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqjpeg.so"
keys ("jpeg", "jpg")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqmng.so"
keys ("mng")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqsvg.so"
keys ("svg", "svgz")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtga.so"
keys ("tga")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtiff.so"
keys ("tiff", "tif")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/accessiblebridge/libqspiaccessiblebridge.so"
keys ("QSPIACCESSIBLEBRIDGE")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/accessible/libqtaccessiblecompatwidgets.so"
keys ("Q3TextEdit", "Q3IconView", "Q3ListView", "Q3WidgetStack", "Q3GroupBox", "Q3ToolBar", "Q3ToolBarSeparator", "Q3DockWindowHandle", "Q3DockWindowResizeHandle", "Q3MainWindow", "Q3Header", "Q3ListBox", "Q3Table", "Q3TitleBar")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/accessible/libqtaccessiblewidgets.so"
keys ("QSGItem", "QDeclarativeItem", "QLineEdit", "QComboBox", "QAbstractSpinBox", "QSpinBox", "QDoubleSpinBox", "QScrollBar", "QSlider", "QAbstractSlider", "QToolButton", "QCheckBox", "QRadioButton", "QPushButton", "QAbstractButton", "QDialog", "QMessageBox", "QMainWindow", "QLabel", "QLCDNumber", "QGroupBox", "QStatusBar", "QProgressBar", "QMenuBar", "Q3PopupMenu", "QMenu", "QHeaderView", "QTabBar", "QToolBar", "QWorkspaceChild", "QSizeGrip", "QAbstractItemView", "QWidget", "QSplitter", "QSplitterHandle", "QTextEdit", "QPlainTextEdit", "QTipLabel", "QFrame", "QStackedWidget", "QToolBox", "QMdiArea", "QMdiSubWindow", "QWorkspace", "QDialogButtonBox", "QDial", "QRubberBand", "QTextBrowser", "QAbstractScrollArea", "QScrollArea", "QCalendarWidget", "QDockWidget")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/iconengines/libqsvgicon.so"
keys ("svg", "svgz", "svg.gz")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/iconengines/libqsvgicon.so"
keys ()
[ INFO] [1637235817.590847017]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1637235817.592469542]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1637235817.638523309, 257.499000000]: Physics dynamic reconfigure ready.
[ INFO] [1637235817.638917878]: Physics dynamic reconfigure ready.
[ INFO] [1637235818.010408784, 257.801000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1637235818.010504396, 257.801000000]: DiffDrive(ns = //): <rosDebugLevel> = Debug
[ INFO] [1637235818.011427144, 257.801000000]: DiffDrive(ns = //): <tf_prefix> =
[DEBUG] [1637235818.011538036, 257.801000000]: DiffDrive(ns = //): <commandTopic> = cmd_vel
[DEBUG] [1637235818.011553415, 257.801000000]: DiffDrive(ns = //): <odometryTopic> = odom
[DEBUG] [1637235818.011565311, 257.801000000]: DiffDrive(ns = //): <odometryFrame> = odom
[DEBUG] [1637235818.011592937, 257.801000000]: DiffDrive(ns = //): <robotBaseFrame> = base_footprint
[DEBUG] [1637235818.011641657, 257.801000000]: DiffDrive(ns = //): <publishWheelTF> = true
[DEBUG] [1637235818.011653441, 257.801000000]: DiffDrive(ns = //): <publishOdomTF> = true
[DEBUG] [1637235818.011664179, 257.801000000]: DiffDrive(ns = //): <publishWheelJointState> = true
[DEBUG] [1637235818.011709383, 257.801000000]: DiffDrive(ns = //): <legacyMode> = true
[DEBUG] [1637235818.011758233, 257.801000000]: DiffDrive(ns = //): <wheelSeparation> = 0.20000000000000001
[DEBUG] [1637235818.011776872, 257.801000000]: DiffDrive(ns = //): <wheelDiameter> = 0.065000000000000002
[DEBUG] [1637235818.011825064, 257.801000000]: DiffDrive(ns = //): <wheelAcceleration> = 1.8
[DEBUG] [1637235818.011839057, 257.801000000]: DiffDrive(ns = //): <wheelTorque> = 30
[DEBUG] [1637235818.011853035, 257.801000000]: DiffDrive(ns = //): <updateRate> = 100
[ WARN] [1637235818.011902563, 257.801000000]: DiffDrive(ns = //): <odometrySource> no matching key to 1
[DEBUG] [1637235818.011918766, 257.801000000]: DiffDrive(ns = //): <odometrySource> = default := 1
[DEBUG] [1637235818.011945861, 257.801000000]: DiffDrive(ns = //): <leftJoint> = left_wheel_baselink
[spawn_model1-3] process has finished cleanly
log file: /home/joes/.ros/log/6cceca6e-4837-11ec-9542-14f6d8d77445/spawn_model1-3*.log
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/menubar/libappmenu-qt.so"
keys ("default")
[gazebo_gui-2] process has finished cleanly
log file: /home/joes/.ros/log/6cceca6e-4837-11ec-9542-14f6d8d77445/gazebo_gui-2*.log
^C[gazebo-1] killing on exit
[gazebo-1] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done

二、解决：

查看后台输出，未见明显报警，最后还是检查move.xacro文件，<gazebo></gazebo>标签内，左右驱动轮的名字错误，导致的。自行查看自己的小车base中的左右驱动轮的joint name，必须保持一致，我就是因为多加了一个下划线，导致摸索半天。

leftwheel_baselink  错写为  left_wheel_baselink

rightwheel_baselink 错写为 right_wheel_baselink

1.错误的书写：

 

 2.base底盘文件的左右驱动轮关节名称：

修正后，重新执行：roslaunch ros23_urdf02_gazebo demo03_gazebo_env.launch

查询rostopic list,出现cmd_vel

大喜大喜~

其他同学遇见此问题，也可以类推，主要查找相关的一些自命名参数的name是否前后一致，否则极易出错。因为随着后续项目的复杂加深，相关的各类引用越来越多，所以必须要仔细书写，以免花费太多的无效时间进行排错！