@1113618930
同时启动rviz与gazebo，终端的警告：

You can start planning now! [ WARN] [1679125213.502411483]: Shutdown request received. [ WARN] [1679125213.502455394]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [20888] [ WARN] [1679125213.747132877]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125214.017575265]: Shutdown request received. [ WARN] [1679125214.017621904]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21030] [ WARN] [1679125214.255693246]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125214.525132338]: Shutdown request received. [ WARN] [1679125214.525167051]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [WARN] [1679125214.632244, 0.000000]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details. [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21054] [ WARN] [1679125214.753356317]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125215.033524088]: Shutdown request received. [ WARN] [1679125215.033575148]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21128] [ WARN] [1679125215.269981472]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125215.660710581]: Shutdown request received. [ WARN] [1679125215.660778343]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21162] [ WARN] [1679125215.874257088]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125216.169900665]: Shutdown request received. [ WARN] [1679125216.169957554]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21181] [ WARN] [1679125216.379792363]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125216.677411048]: Shutdown request received. [ WARN] [1679125216.677442706]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21202] [ WARN] [1679125216.892892923]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125217.184628360]: Shutdown request received. [ WARN] [1679125217.184662972]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21220] [ WARN] [1679125217.411397382]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125217.691337359, 0.870000000]: Shutdown request received. [ WARN] [1679125217.691380020, 0.870000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21238] [ WARN] [1679125217.906539940]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125218.198077086, 1.375000000]: Shutdown request received. [ WARN] [1679125218.198118254, 1.375000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21257] [ WARN] [1679125218.415009234]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125218.704655363]: Shutdown request received. [ WARN] [1679125218.704693599, 1.881000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21275] [ WARN] [1679125218.920581471]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125219.211322184, 2.386000000]: Shutdown request received. [ WARN] [1679125219.211363367, 2.386000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21293] [ WARN] [1679125219.425836472]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125219.825154504, 2.985000000]: Shutdown request received. [ WARN] [1679125219.825194354, 2.985000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] Property::loadValue() TODO: error handling - unexpected QVariant type 0. Property::loadValue() TODO: error handling - unexpected QVariant type 0. [ INFO] [1679125219.951226849, 3.111000000]: Loading robot model 'arm_z'... [ INFO] [1679125219.951290314, 3.111000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21314]