配置完成moveit_setup_assistant，编译后运行demo.launch.py无法加载出机器人模型

[ERROR] [move_group-2]: process has died [pid 3781, exit code -6, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_0po_76sy --params-file /tmp/launch_params_phxz5i14'].
[rviz2-3] [ERROR] [1708364415.896293002] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-3] [INFO] [1708364415.939207163] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-3] [ERROR] [1708364426.208655867] [rviz]: Could not find parameter robot_description_semantic and did not receive robot_description_semantic via std_msgs::msg::String subscription within 10.000000 seconds.
[rviz2-3] Error:   Could not parse the SRDF XML File. Error=XML_ERROR_EMPTY_DOCUMENT ErrorID=13 (0xd) Line number=0
[rviz2-3]          at line 715 in ./src/model.cpp
[rviz2-3] [ERROR] [1708364426.215948137] [moveit_rdf_loader.rdf_loader]: Unable to parse SRDF
[rviz2-3] [ERROR] [1708364426.255967822] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Robot model not loaded

应该是机械臂模型文件的问题，把urdf文件中velocity的值改为double类型，而且比如velocity="2.0" 也需要改成 velocity="2.000001"，然后重新进行moveit_setup_assistant的配置，重新编译再运行应该就可以了