Ubuntu16.04连接真机UR5出现问题的解决方法

Ubuntu16.04
ROS_Kinetic

在Ubuntu16.04下载universal_robot，将ur_driver替换成ur_modern_driver，然后编译．
在执行ur_modern_driver的教程时出现问题

在终端执行：

roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=［这里是机器人的静态ＩＰ］[reverse_port:=REVERSE_PORT]

在新的终端执行：

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch

报错如下：

[ WARN] [1531451991.014184310]: Waiting for /follow_joint_trajectory to come up
[ WARN] [1531451997.014464573]: Waiting for /follow_joint_trajectory to come up
[ERROR] [1531452003.014696004]: Action client not connected: /follow_joint_trajectory

在之前的终端出现：

[FATAL] [1531452061.277196218]: Error connecting to get firmware version
terminate called after throwing an instance of 'std::system_error'
  what():  Invalid argument
[ur_driver-3] process has died [pid 8367, exit code -6, cmd /home/123/catkin_ws_gqcnn3.0/devel/lib/ur_modern_driver/ur_driver __name:=ur_driver __log:=/home/123/.ros/log/764ab488-864b-11e8-ae8d-8cec4b5ad613/ur_driver-3.log].
log file: /home/123/.ros/log/764ab488-864b-11e8-ae8d-8cec4b5ad613/ur_driver-3*.log

解决方法：

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

原网址：https://github.com/ros-industrial/universal_robot/issues/281