Joint state with name: “base_l_wheel_joint“ was received but not found in URDF问题解决

当在进行arbotix进行机器人运动控制的时候，抛出了如下异常：

 

[ WARN] [1620731067.801481542]: Joint state with name: "base_l_wheel_joint" was received but not found in URDF

 解决如下：

 

将上面

<xacro:dynamic_wheel name="left" flag="1"/>

name=“left”改成name="base_l_wheel_joint"，name="${name_wheel2base}"中的_wheel2base删掉之后，再次运行还会抛出Joint state with name: "base_r_wheel_joint" was received but not found in URDF，这样的异常和上述一样修改，把左改成右。

本质就是把joint的命名改成警告给的提示才行。

我看别人都可以自己命名不知道为什么一定是要系统提示的名字命名，先留着等我弄懂了再来修改！期待大佬能指点解答，谢谢！