Invalid parameter “transmission_hw_interface“

按照开源项目：

https://github.com/lihuang3/ur5_ROS-Gazebo

的步骤进行配置后，运行roslunch ur5_notebook initialize.launch，

报错：

Invalid parameter "transmission_hw_interface" None ### None
when instantiating macro: ur5_robot (/home/sr/ur_ws/src/universal_robot-kinetic-devel/universal_robot-kinetic-devel/ur_description/urdf/ur5.urdf.xacro)

解决办法：

I have edited several lines in ur5.urdf.xacro to make it works

before :
<xacro:macro name="ur5_robot" params="prefix joint_limited
shoulder_pan_lower_limit:=${-pi} shoulder_pan_upper_limit:=${pi}
shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi}
elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi}
wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi}
wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi}
wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}">
after :
<xacro:macro name="ur5_robot" params="prefix joint_limited
shoulder_pan_lower_limit:=${-2pi} shoulder_pan_upper_limit:=${2pi}
shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi}
elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi}
wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi}
wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi}
wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}
transmission_hw_interface:=hardware_interface/PositionJointInterface"
>

before :
<xacro:ur_arm_transmission prefix="${prefix}" />
after :
<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />

but i don't know (in this ur5.urdf.xacro) whether we should change shoulder_pan_lower_limit and shoulder_pan_upper_limit into -2*pi and 2*pi or not.

问题解决