Could not find parameter robot_description on parameter server
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本人在为一个二连杆编写gazebo仿真环境下的PID控制器时，遇到以下报错，不过依旧可以顺利通过rostopic pub命令进行关节位置控制，不知道大家有没有遇到过呢？
SUMMARY ======== PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.17 * /usm_g/Joint_1_joint_position_controller/joint: Joint_1 * /usm_g/Joint_1_joint_position_controller/pid/d: 10.0 * /usm_g/Joint_1_joint_position_controller/pid/i: 0.01 * /usm_g/Joint_1_joint_position_controller/pid/p: 100.0 * /usm_g/Joint_1_joint_position_controller/type: effort_controller... * /usm_g/Joint_2_joint_position_controller/joint: Joint_2 * /usm_g/Joint_2_joint_position_controller/pid/d: 10.0 * /usm_g/Joint_2_joint_position_controller/pid/i: 0.01 * /usm_g/Joint_2_joint_position_controller/pid/p: 100.0 * /usm_g/Joint_2_joint_position_controller/type: effort_controller... * /usm_g/Joint_3_joint_position_controller/joint: Joint_3 * /usm_g/Joint_3_joint_position_controller/pid/d: 10.0 * /usm_g/Joint_3_joint_position_controller/pid/i: 0.01 * /usm_g/Joint_3_joint_position_controller/pid/p: 100.0 * /usm_g/Joint_3_joint_position_controller/type: effort_controller... * /usm_g/joint_state_controller/publish_rate: 50 * /usm_g/joint_state_controller/type: joint_state_contr... NODES /usm_g/ control_spawner (controller_manager/spawner) / robot_state_publisher (robot_state_publisher/robot_state_publisher) ROS_MASTER_URI=http://localhost:11311 process[usm_g/control_spawner-1]: started with pid [29615] process[robot_state_publisher-2]: started with pid [29616] [ERROR] [1679986197.436298272]: Could not find parameter robot_description on parameter server [robot_state_publisher-2] process has died [pid 29616, exit code 255, cmd /opt/ros/kinetic/lib/robot_state_publisher/robot_state_publisher /joint_states:=/usm_g/joint_states __name:=robot_state_publisher __log:=/home/hao/.ros/log/c019e4e6-cd34-11ed-a161-000c29f17fea/robot_state_publisher-2.log]. log file: /home/hao/.ros/log/c019e4e6-cd34-11ed-a161-000c29f17fea/robot_state_publisher-2*.log [INFO] [1679986197.657590, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1679986199.170301, 0.433000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1679986199.172532, 0.436000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1679986199.175844, 0.439000]: Loading controller: joint_state_controller [INFO] [1679986199.186013, 0.448000]: Loading controller: Joint_1_joint_position_controller [INFO] [1679986199.245668, 0.509000]: Loading controller: Joint_2_joint_position_controller [INFO] [1679986199.307242, 0.570000]: Loading controller: Joint_3_joint_position_controller [INFO] [1679986199.359738, 0.621000]: Controller Spawner: Loaded controllers: joint_state_controller, Joint_1_joint_position_controller, Joint_2_joint_position_controller, Joint_3_joint_position_controller [INFO] [1679986199.365764, 0.626000]: Started controllers: joint_state_controller, Joint_1_joint_position_controller, Joint_2_joint_position_controller, Joint_3_joint_position_controller诚挚希望能够得到诸位大佬解惑！