【Gazebo_Bug】No p gain specified for pid（已解决）

终端输出的错误

• 没有设置 pid：

  [ERROR] [1627052671.393262001, 0.145000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_pan_joint
  [ERROR] [1627052671.393864586, 0.145000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_lift_joint
  [ERROR] [1627052671.394434914, 0.145000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/elbow_joint
  [ERROR] [1627052671.394998115, 0.145000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
  [ERROR] [1627052671.395562500, 0.145000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
  [ERROR] [1627052671.396130924, 0.145000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_3_joint
  

解决方法

• 找到下面这个文件：
  
• 复制该段内容：

    /gazebo_ros_control:
      pid_gains:
        shoulder_pan_joint:
          p: 100.0
          i: 0.01
          d: 10.0
        shoulder_lift_joint:
          p: 100.0
          i: 0.01
          d: 10.0
        elbow_joint:
          p: 100.0
          i: 0.01
          d: 10.0
        wrist_1_joint:
          p: 100.0
          i: 0.01
          d: 10.0
        wrist_2_joint:
          p: 100.0
          i: 0.01
          d: 10.0
        wrist_3_joint:
          p: 100.0
          i: 0.01
          d: 10.0
  

• 粘贴到下面的位置（注意缩进）：