[ WARN] [1728022748.678969274]: 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
<link name="dummy">
</link>
<joint name="dummy_joint" type="fixed">
<parent link="dummy"/>
<child link="base_link"/>
</joint>
修改urdf文件