ROS机器人开发实践 第十章 问题

问题1

[ERROR] [1705152206.845176204, 0.435000000]: Could not load controller 'joint_state_controller' because controller type 'joint_state_controller/JointStateController' does not exist.
[ERROR] [1705152206.845251025, 0.435000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1705152207.846567, 1.434000]: Failed to load joint_state_controller
 

解决方法

sudo apt install ros-melodic-ros-controllers

 问题2

[ERROR] [1705152662.532902492, 0.349000000]: No p gain specified for pid. Namespace: /arm/gazebo_ros_control/pid_gains/joint1 [ERROR] [1705152662.534272986, 0.349000000]: No p gain specified for pid. Namespace: /arm/gazebo_ros_control/pid_gains/joint2 [ERROR] [1705152662.535426402, 0.349000000]: No p gain specified for pid. Namespace: /arm/gazebo_ros_control/pid_gains/joint3 [ERROR] [1705152662.536440396, 0.349000000]: No p gain specified for pid. Namespace: /arm/gazebo_ros_control/pid_gains/joint4 [ERROR] [1705152662.537428602, 0.349000000]: No p gain specified for pid. Namespace: /arm/gazebo_ros_control/pid_gains/joint5 [ERROR] [1705152662.538498422, 0.349000000]: No p gain specified for pid. Namespace: /arm/gazebo_ros_control/pid_gains/joint6 [ERROR] [1705152662.539511655, 0.349000000]: No p gain specified for pid. Namespace: /arm/gazebo_ros_control/pid_gains/finger_joint1

解决方法 

不解决也可以正常使用

What is the fix for 'No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/back_right_wheel_joint ' ros melodic? - ROS Answers: Open Source Q&A Forum

解决参考

[ERROR] [1656317519.169006218, 0.161000000]: No p gain specified for pid.Namespace: /arm/gazebo_ros__[error] [1683534024.803600722, 0.123000000]: no p -CSDN博客

问题3 

[ERROR] [1705233375.952075891, 17.131000000]: Action client not connected: arm_controller/follow_joint_trajectory
[ERROR] [1705233393.103007916, 34.229000000]: Action client not connected: gripper_controller/gripper_action 

解决方法

Action client not connected: arm_controller/follow_joint_trajectory_[error] [1697821037.612121677, 104.296000000]: act-CSDN博客

我好像只取消了第十行的注释 ，就解决了。

问题4

加入“motion planning”之后，rviz就开始一直放大缩小的闪烁，一直没找到解决办法。

解决方法

取消全屏就好了