运行moveit_rviz报错 Tried to advertise on topic [/move_group/filtered_cloud] with md5sum [060021388200f

运行moveit_rviz报错

[ERROR] [1656070551.111682083, 1948.582000000]: Tried to advertise on topic [/move_group/filtered_cloud] with md5sum [060021388200f6f0f447d0fcd9c64743] and datatype [sensor_msgs/Image], but the topic is already advertised as md5sum [1158d486dd51d683ce2f1be655c3c181] and datatype [sensor_msgs/PointCloud2]
[ERROR] [1656070551.134366429, 1948.605000000]: Tried to advertise a service that is already advertised in this node [/move_group/model_depth/compressedDepth/set_parameters]
[ERROR] [1656070551.136895592, 1948.608000000]: Tried to advertise a service that is already advertised in this node [/move_group/model_depth/compressed/set_parameters]

原因分析

可以定位到moveit的配置包，关于传感器方面的配置问题，也就是摄像头的配置
打开sensors_3d.yaml文件，发现有重复的配置信息

修改配置1

将重复的配置信息删除

运行后结果如下，报错少了很多，只有一条报错

目测是话题重复发布

修改配置2

将配置中的话题名修改一下，改成filtered_cloud_image

运行后结果如下，无报错