按照官网调试时候遇到了各种bug,主要是却依赖,安装gazebo_ros_pkgs+toolbox+realtime_tool等几个包之后就好了,在github下载时,记得选择正确的版本!!
We add a <transmission>
block similar to the following for every joint that we wish to have Gazebo actuate. Note that the<hardwareInterface>
must be included in both the <joint>
and <actuator>
tags (see ros_control issue here). Open yourrrbot.xacro
file and at the bottom of the file you should see:
1、在rrbot.xacro文件下添加标签<transmission>.在每个想要添加启动器的关节处,需要添加标签<transmission>,这个标签中的《joint》和《actuator》中都要添加《hardwareInterface》标签