ROS2_ERROR：No kinematics plugins defined. Fill and load kinematics.yaml!

未加载kinematics配置文件，开启节点时加入配置文件

这是要开启的节点，这里没有加载kinematics配置

def generate_launch_description():

    return LaunchDescription([
        Node(
            package='***_moveit_config',
            executable='MoveArm',
            name='MoveArm',
            output='screen',
            parameters=[{'use_sim_time': True}],
        ),
    ])

按下面的方法加入配置文件

def load_yaml(package_name, file_path):
    package_path = get_package_share_directory(package_name)
    absolute_file_path = os.path.join(package_path, file_path)

    try:
        with open(absolute_file_path, "r") as file:
            return yaml.safe_load(file)
    except EnvironmentError: 
        return None

def generate_launch_description():

    kinematics_yaml=load_yaml('spiderbot_description_moveit_config', 'config/kinematics.yaml')
    
    return LaunchDescription([
        Node(
            package='spiderbot_description_moveit_config',
            executable='MoveArm',
            name='MoveArm',
            output='screen',
            parameters=[{'use_sim_time': True},kinematics_yaml],
        ),
    ])