可能时间参数未加载,导致获取joint_states失败,为所有节点添加use_sim_time: True参数(开启虚拟时间)
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
Node(
package='spiderbot_description_moveit_config',
executable='MoveArm',
name='MoveArm',
output='screen',
parameters=[{'use_sim_time': True}],
),
])