抓取-ros中一些仿真问题

一、jaco2机械臂-moveit!在RViz中（demo.launch）

1、trac_ik_lib包未安装

（1）问题

The kinematics plugin (cute_arm) failed to load. Error: Failed to load library /opt/ros/kinetic/lib//libtrac_ik_kinematics_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libmoveit_kinematics_base.so.0.9.12: cannot open shared object file: No such file or directory)
[ERROR] [1530362224.460199466]: Kinematics solver could not be instantiated for joint group cute_arm.

（2）解决

更新moveit，安装trac_ik_lib功能包，重新编译。

sudo apt-get install ros-kinetic-moveit-*
sudo apt-get install ros-kinetic-trac-ik

参考：http://www.guyuehome.com/1921

二、gazebo中缺少控制器

1、问题1

Could not load controller 'joint_state_controller

2、问题1解决

$ sudo apt-get install ros-$version$-joint-state-controller
$ sudo apt-get install ros-$version$-effort-controllers
$ sudo apt-get install ros-$version$-position-controllers 

3、问题2

Controller Spawner couldn’t find the expected controller_manager ROS interface

4、问题2解决

sudo apt-get install ros-kinetic-gazebo-ros-control

三、gazebo界面打不开

gazebo打开一直是这种状态或者黑屏，是因为model库加载不正确导致的

解决

$ cd ~/.gazebo/
$ mkdir -p models
$ cd ~/.gazebo/models/
$ wget http://file.ncnynl.com/ros/gazebo_models.txt
$ wget -i gazebo_models.txt
$ ls model.tar.g* | xargs -n1 tar xzvf

将所有的模型下载到根目录下。