No p gain specified for pid.

        最近在用虚拟机 ubuntu18.04 ros-melodic 学习《ROS机器人开发实践》中的Moveit部分，运行gazebo仿真部分的源码时出现了报错

报错信息：

[ERROR] [1671093720.250605285, 0.367000000]: No p gain specified for pid.  Namespace: /arm/gazebo_ros_control/pid_gains/joint1
[ERROR] [1671093720.251394073, 0.367000000]: No p gain specified for pid.  Namespace: /arm/gazebo_ros_control/pid_gains/joint2
[ERROR] [1671093720.252025035, 0.367000000]: No p gain specified for pid.  Namespace: /arm/gazebo_ros_control/pid_gains/joint3
[ERROR] [1671093720.252637846, 0.367000000]: No p gain specified for pid.  Namespace: /arm/gazebo_ros_control/pid_gains/joint4
[ERROR] [1671093720.253241898, 0.367000000]: No p gain specified for pid.  Namespace: /arm/gazebo_ros_control/pid_gains/joint5
[ERROR] [1671093720.253777878, 0.367000000]: No p gain specified for pid.  Namespace: /arm/gazebo_ros_control/pid_gains/joint6
[ERROR] [1671093720.254317042, 0.367000000]: No p gain specified for pid.  Namespace: /arm/gazebo_ros_control/pid_gains/finger_joint1

报错原因就是缺少了pid的增益，详细信息可以看这里

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

 意思其实这个错误可以忽略，不影响仿真控制，但是终端有一段红色，总是不爽的

 解决方法：修改 marm_gazebo/config/arm_gazebo_control.yaml

在文件末尾加上这一段代码：

  gazebo_ros_control:
    pid_gains:
      joint1: {p: 100.0, i: 0.01, d: 10.0}
      joint2: {p: 100.0, i: 0.01, d: 10.0}
      joint3: {p: 100.0, i: 0.01, d: 10.0}
      joint4: {p: 100.0, i: 0.01, d: 10.0}
      joint5: {p: 100.0, i: 0.01, d: 10.0}
      joint6: {p: 100.0, i: 0.01, d: 10.0}
      finger_joint1: {p: 100.0, i: 0.01, d: 10.0}