gazebo扰动等问题

1. 模型无法正常加载：

urdf中gazebo插件是否正常添加

<gazebo>

<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">

<robotNamespace>/</robotNamespace>

</plugin>

</gazebo>

2. 模型显示没有pid参数

ros_controller.yaml添加/gazebo_ros_control项，具体可参考：

https://blog.csdn.net/qq_42768827/article/details/122418978?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522167764275016800188548423%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=167764275016800188548423&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~pc_rank_34-1-122418978-null-null.142^v73^pc_new_rank,201^v4^add_ask,239^v2^insert_chatgpt&utm_term=%5BERROR%5D%20%5B1677642636.877617191%5D%3A%20No%20p%20gain%20specified%20for%20pid.%20%20Namespace%3A%20%2Fgazebo_ros_control%2Fpid_gains%2FRSP&spm=1018.2226.3001.4187

3. 模型与地面接触抖动

提高仿真中世界坐标的高度，demo_gazebo.launch 及gazebo.launch里均有可以调整x,y,z的项，

<arg name="world_pose" default="-x 0 -y 0 -z 0.780 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>

思路参考：

https://blog.csdn.net/weixin_46658421/article/details/114949547?spm=1001.2101.3001.6650.1&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7ERate-1-114949547-blog-107434938.pc_relevant_default&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7ERate-1-114949547-blog-107434938.pc_relevant_default&utm_relevant_index=2

4. 关节ID冲突，无法切换控制器

控制器精简到一个，每个控制器不能重复控制别的关节。

5. 成功使用位置控制器时，发现moveit驱动gazebo到一半就停了 

①调整PID参数,https://blog.csdn.net/qq_37266917/article/details/104959071?spm=1001.2101.3001.6650.10&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7ERate-10-104959071-blog-127018266.pc_relevant_multi_platform_whitelistv3&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7ERate-10-104959071-blog-127018266.pc_relevant_multi_platform_whitelistv3&utm_relevant_index=12

②如果只是为了仿真，在moveit配置时选择FollowJointController即可。

如果urdf中生成的transmission为effortJointInterface，需要切换为PositionJointInterface。

<transmission name="trans_HY_Joint">

<type>transmission_interface/SimpleTransmission</type>

<joint name="HY_Joint">

<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>

</joint>

<actuator name="HY_Joint_motor">

<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>

<mechanicalReduction>1</mechanicalReduction>

</actuator>

</transmission>