ros错误-GazeboRosControlPlugin missing while using DefaultRobotHWSim, defaults to true

ros错误-GazeboRosControlPlugin missing while using DefaultRobotHWSim, defaults to true.

在运行一个gazebo文件时，会报错：
[ERROR] [1591436091.769657632, 0.146000000]: 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 ins
tead.
If you do not want to fix this issue in an old package just set to true.

解决办法：

找到描述性文件urdf。以gazebo为后缀的一个文件，本例子为ur机械臂的描述性文件。

然后像下图一样插入

<legacyModeNS>true</legacyModeNS>