3744c805-3601-48d9-9217-8e01e5db6589-图片.png
如图,kuka的机械臂,可以在gazebo中正常打开,但移动下方的方块砸机械臂,它一点而都不动,也尝试过直接给机械臂施加力和力矩,机械臂也不动,下面粘贴urdf部分urdf文件,
还有部分xacro文件内容
```
<gazebo reference="link_1">
<material>Gazebo/Orange</material>
<self_collide>false</self_collide>
<gravity>true</gravity>
</gazebo>
<gazebo>
<is_static>false</is_static>
<self_collide>true</self_collide>
</gazebo>
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="joint_1">
<command_interface name="position"/>
<command_interface name="effort"/>
<!-- <command_interface name="velocity"/> -->
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>