问题描述
So I tried launching my robot in gazebo world and I Could see my robot arm but Could not find the end effector and when I try to click on any plugins the gazebo closing off suddenly. People told me to add a .yml file. And but the robot works fine on the rviz platform
gazebo_ros_control/pid_gains:
shoulder_pan_joint: {p: 100.0,i: 0.01,d: 10.0}
shoulder_lift_joint: {p: 100.0,d: 10.0}
elbow_joint: {p: 100.0,d: 10.0}
wrist_1_joint: {p: 100.0,d: 10.0}
wrist_2_joint: {p: 100.0,d: 10.0}
wrist_3_joint: {p: 100.0,d: 10.0}
and i added the above,[controller_spawner-4] process has died [pid 18617,exit code 2,cmd /opt/ros/melodic/lib/controller_manager/spawner __name:=controller_spawner __log:=/home/akash/.ros/log/7a4b985a-ea0b-11eb-a6b5-7c67a2e59a25/controller_spawner-4.log].
log file: /home/akash/.ros/log/7a4b985a-ea0b-11eb-a6b5-7c67a2e59a25/controller_spawner-4*.log
[ INFO] [1626867488.573071456]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1626867488.579089609]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised,waiting...
[ INFO] [1626867488.836513846]: waitForService: Service [/gazebo/set_physics_properties] is Now available.
[ INFO] [1626867488.890592907,0.020000000]: Physics dynamic reconfigure ready.
[INFO] [1626867489.039121,0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1626867489.056799,0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1626867489.064258,0.186000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1626867489.366671,0.325000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1626867489.615558431,0.325000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1626867489.619115323,0.325000000]: Camera Plugin (ns = /) <tf_prefix_>,set to ""
[spawn_gazebo_model-3] process has finished cleanly
log file: /home/akash/.ros/log/7a4b985a-ea0b-11eb-a6b5-7c67a2e59a25/spawn_gazebo_model-3*.log
[ INFO] [1626867489.736882435,0.325000000]: Loading gazebo_ros_control plugin
[ INFO] [1626867489.737195933,0.325000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1626867489.738163986,0.325000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ WARN] [1626867489.860372812,0.325000000]: Deprecated Syntax,please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'shoulder_1_joint'.
[ERROR] [1626867489.862396772,0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_1_joint
[ WARN] [1626867489.862942465,please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'shoulder_2_joint'.
[ERROR] [1626867489.867874675,0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_2_joint
[ WARN] [1626867489.867934525,please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'elbow_1_joint'.
[ERROR] [1626867489.868804177,0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/elbow_1_joint
[ WARN] [1626867489.868847889,please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_1_joint'.
[ERROR] [1626867489.869519502,0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
[ WARN] [1626867489.869559452,please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_2_joint'.
[ERROR] [1626867489.870294428,0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
[ WARN] [1626867489.870363581,please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_3_joint'.
[ERROR] [1626867489.871283295,0.325000000]: No p gain ...
所以我尝试在凉亭世界中启动我的机器人，我可以看到我的机器人手臂，但找不到末端执行器，当我尝试单击任何插件时，凉亭突然关闭。人们告诉我添加一个 .yml 文件。但机器人在rviz平台上运行良好
解决方法
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