MOVEIT!控制GAZEBO仿真机械臂时遇到的一些问题

MOVEIT!控制GAZEBO仿真机械臂时遇到的一些问题

问题一

[ERROR] [1588820786.499505393, 0.159000000]: GazeboRosControlPlugin missing while using DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead.
If you do not want to fix this issue in an old package just set to true.

解决：在机械臂模型文件的gazebo标签下的plugin标签中加入如下指令

<legacyModeNS>true</legacyModeNS>

问题二

[ERROR] [1588820786.914581110, 0.441000000]: Could not load controller ‘joint_state_controller’ because controller type ‘joint_state_controller/JointStateController’ does not exist.
[ERROR] [1588820786.914628353, 0.441000000]: Use ‘rosservice call controller_manager/list_controller_types’ to get the available types

解决：

sudo apt-get install ros-kinetic-joint-state-controller

问题三

[ERROR] [1588820786.929189468, 0.456000000]: Could not load controller ‘arm_joint_controller’ because controller type ‘position_controllers/JointTrajectoryController’ does not exist.
[ERROR] [1588820786.929303048, 0.456000000]: Use ‘rosservice call controller_manager/list_controller_types’ to get the available types
[ERROR] [1588820787.915305, 1.439000]: Failed to load joint_state_controller

[ERROR] [1588820787.933275635, 1.457000000]: Could not load controller ‘gripper_controller’ because controller type ‘position_controllers/JointTrajectoryController’ does not exist.
[ERROR] [1588820787.933354984, 1.457000000]: Use ‘rosservice call controller_manager/list_controller_types’ to get the available types
[ERROR] [1588820788.933905, 2.455000]: Failed to load gripper_controller

解决：

sudo apt-get install ros-kinetic-position-controllers
sudo apt-get install ros-kinetic-joint-trajectory-controller1

问题四

[ERROR] [1588820786.617267118, 0.159000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/joint1
[ERROR] [1588820786.618290919, 0.159000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/joint2
[ERROR] [1588820786.619569969, 0.159000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/joint3
[ERROR] [1588820786.620965740, 0.159000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/joint4
[ERROR] [1588820786.622775698, 0.159000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/joint5
[ERROR] [1588820786.623953112, 0.159000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/joint6
[ERROR] [1588820786.624981470, 0.159000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/finger_joint1

可以忽略这个错误。

问题五

[ERROR] [1588820803.697202340, 17.179000000]: Action client not connected: arm_controller/follow_joint_trajectory
[ERROR] [1588820820.797045484, 34.218000000]: Action client not connected: gripper_controller/gripper_action

解决：要使MoveIt!控制器的命名空间与机械臂控制器插件中的命名空间相同。