[ WARN] [1726981756.091561161]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF
根关节的base_link在urdf中具有惯性参数,但是KDL不支持,通过在URDF文件中添加一个名为'dummy'的固定关节和链接,可以消除该错误
只需添加一个link和一个joint即可
修改前
修改后
<link name="dummy">
</link>
<joint name="dummy_joint" type="fixed">
<parent link="dummy"/>
<child link="base_link"/>
</joint>
<link name="dummy">
</link>
<joint name="dummy_joint" type="fixed">
<origin
xyz="0 0 0"
rpy="0 0 0" />
<parent link="dummy"/>
<child link="base_link"/>
</joint>
/