运行Gazebo+moveit+Rviz,报错，提示无控制器

在rviz里规划成功后，执行显示failed,rviz里能规划，但是Gazebo里动不了。

moveit报错如下：

[ WARN] [1679466487.132361192, 26.763000000]: Waiting for /follow_joint_trajectory to come up
[ WARN] [1679466493.156254954, 32.763000000]: Waiting for /follow_joint_trajectory to come up
[ERROR] [1679466499.187511132, 38.763000000]: Action client not connected: /follow_joint_trajectory

查了好多方法都无效，通过查找当前话题，发现设置的控制器话题名称不匹配，复制当前运行的控制器名称，在对应的control.yaml文件中更改控制器名称即可。

步骤如下：

1、运行Gazebo+moveit+rviz，moveit终端会报错如上所示

2、打开新终端，通过rostopic list命令查看当前话题

会发现一长串有关控制器的话题

/eff_joint_traj_controller/command
/eff_joint_traj_controller/follow_joint_trajectory/cancel
/eff_joint_traj_controller/follow_joint_trajectory/feedback
/eff_joint_traj_controller/follow_joint_trajectory/goal
/eff_joint_traj_controller/follow_joint_trajectory/result
/eff_joint_traj_controller/follow_joint_trajectory/status
/eff_joint_traj_controller/gains/elbow_joint/parameter_descriptions
/eff_joint_traj_controller/gains/elbow_joint/parameter_updates
/eff_joint_traj_controller/gains/shoulder_lift_joint/parameter_descriptions
/eff_joint_traj_controller/gains/shoulder_lift_joint/parameter_updates
/eff_joint_traj_controller/gains/shoulder_pan_joint/parameter_descriptions
/eff_joint_traj_controller/gains/shoulder_pan_joint/parameter_updates
/eff_joint_traj_controller/gains/wrist_1_joint/parameter_descriptions
/eff_joint_traj_controller/gains/wrist_1_joint/parameter_updates
/eff_joint_traj_controller/gains/wrist_2_joint/parameter_descriptions
/eff_joint_traj_controller/gains/wrist_2_joint/parameter_updates
/eff_joint_traj_controller/gains/wrist_3_joint/parameter_descriptions
/eff_joint_traj_controller/gains/wrist_3_joint/parameter_updates
/eff_joint_traj_controller/state

复制/eff_joint_traj_controller/follow_joint_trajectory，打开下面的文件，把复制的名称放到action_ns后面即可。（我这里本来是/follow_joint_trajectory）