运行launch文件后,rviz可以显示模型,但是只能plan不能execute,同时gazebo中没有模型,终端报错很多,如下
一、
Error [parser.cc:406] parse as old deprecated model file failed.
二、
[ERROR] [1672799068.164709, 10.219000]: Spawn service failed. Exiting.
三、
[spawn_gazebo_model-4] process has died [pid 15463, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -urdf -param robot_description -model robot -x 0 -y 0 -z 0 __name:=spawn_gazebo_model __log:=/home/zjw/.ros/log/e25f4054-8bd6-11ed-b798-701ce71a1c4c/spawn_gazebo_model-4.log].
四、
[ERROR] [1672799075.294851855, 17.238000000]: Action client not connected: arm_position_controller/follow_joint_trajectory
所有错误的原因在于launch文件中引用的urdf文件最后部分缺少.so这句话,如下解决即可
打开引用的urdf文件,拉到最下边添加这句话:
filename="libgazebo_ros_control.so"
我是这么解决的,每个人情况不同,可能不适用