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    moveit配置了自己的机器人后,运行demo和gazebo后,只有rviz中机器人可以动,gazebo中不能动。

    已定时 已固定 已锁定 已移动
    机械臂运动规划
    melodic gazebo gazebo不能与rviz联动
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    • 11136189301
      阿灿 @1113618930
      最后由 编辑

      @1113618930 2、目录arm/src/arm_moveit_config/config下gazebo_controllers.yaml代码

      # Publish joint_states
      joint_state_controller:
        type: joint_state_controller/JointStateController
        publish_rate: 50
      
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      • 11136189301
        阿灿 @1113618930
        最后由 编辑

        @1113618930 3、arm/src/arm_moveit_config/config下的ros_controllers.yaml代码

        arm_position_controller:
          type: position_controllers/JointTrajectoryController
          joints:
            - joint1
            - joint2
            - joint3
            - joint4
            - joint5
            - joint6
            - joint7
          gains:
            joint1:
              p: 100
              d: 1
              i: 1
              i_clamp: 1
            joint2:
              p: 100
              d: 1
              i: 1
              i_clamp: 1
            joint3:
              p: 100
              d: 1
              i: 1
              i_clamp: 1
            joint4:
              p: 100
              d: 1
              i: 1
              i_clamp: 1
            joint5:
              p: 100
              d: 1
              i: 1
              i_clamp: 1
            joint6:
              p: 100
              d: 1
              i: 1
              i_clamp: 1
            joint7:
              p: 100
              d: 1
              i: 1
              i_clamp: 1
        
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        • 11136189301
          阿灿 @1113618930
          最后由 1113618930 编辑

          @1113618930 4、arm/src/arm_moveit_config/config下的simple_moveit_controllers.yaml代码

          controller_list:
            - name: arm_position_controller
              action_ns: follow_joint_trajectory
              type: FollowJointTrajectory
              default: True
              joints:
                - joint1
                - joint2
                - joint3
                - joint4
                - joint5
                - joint6
                - joint7
          
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          • 11136189301
            阿灿 @1113618930
            最后由 编辑

            @1113618930 5、fake_controllers.yaml代码

            controller_list:
              - name: fake_arm_controller
                type: $(arg fake_execution_type)
                joints:
                  - joint1
                  - joint2
                  - joint3
                  - joint4
                  - joint5
                  - joint6
                  - joint7
            initial:  # Define initial robot poses per group
              - group: arm
                pose: home
            
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            • 11136189301
              阿灿 @1113618930
              最后由 编辑

              @1113618930 6、以下是arm_src/arm_moveit_config/launch文件下的代码
              demo.launch代码

              <launch>
              
                <!-- specify the planning pipeline -->
                <arg name="pipeline" default="ompl" />
              
                <!-- By default, we do not start a database (it can be large) -->
                <arg name="db" default="false" />
                <!-- Allow user to specify database location -->
                <arg name="db_path" default="$(find arm_moveit_config)/default_warehouse_mongo_db" />
              
                <!-- By default, we are not in debug mode -->
                <arg name="debug" default="false" />
              
                <!-- By default, we will load or override the robot_description -->
                <arg name="load_robot_description" default="true"/>
              
                <!-- Choose controller manager: fake, simple, or ros_control -->
                <arg name="moveit_controller_manager" default="fake" />
                <!-- Set execution mode for fake execution controllers -->
                <arg name="fake_execution_type" default="interpolate" />
              
                <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
                <arg name="use_gui" default="false" />
                <arg name="use_rviz" default="true" />
              
                <!-- If needed, broadcast static tf for robot root -->
              
                <group if="$(eval arg('moveit_controller_manager') == 'fake')">
              
                  <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
                       MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
              
                  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
                    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
                  </node>
              
              
                  <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
                       This corresponds to moving around the real robot without the use of MoveIt. -->
                  <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
                    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
                  </node>
              
              
                  <!-- Given the published joint states, publish tf for the robot links -->
              
                  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
                </group>
              
                <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
                <include file="$(dirname)/move_group.launch">
                  <arg name="allow_trajectory_execution" value="true"/>
                  <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
                  <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
                  <arg name="info" value="true"/>
                  <arg name="debug" value="$(arg debug)"/>
                  <arg name="pipeline" value="$(arg pipeline)"/>
                  <arg name="load_robot_description" value="$(arg load_robot_description)"/>
                </include>
              
                <!-- Run Rviz and load the default config to see the state of the move_group node -->
                <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
                  <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
                  <arg name="debug" value="$(arg debug)"/>
                </include>
              
                <!-- If database loading was enabled, start mongodb as well -->
                <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
                  <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
                </include>
              
              </launch>
              
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              • 11136189301
                阿灿 @1113618930
                最后由 编辑

                @1113618930 7、launch文件下gazebo.launch代码

                <?xml version="1.0"?>
                <launch>
                  <!-- Gazebo options -->
                  <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
                  <arg name="paused" default="false" doc="Start Gazebo paused"/>
                  <arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
                  <arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
                  <arg name="initial_joint_positions" default=" -J joint1 0 -J joint2 0 -J joint3 0 -J joint4 0 -J joint5 0 -J joint6 0 -J joint7 0" doc="Initial joint configuration of the robot"/>
                
                  <!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
                  <include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
                    <arg name="paused" value="true"/>
                  </include>
                
                  <!-- Set the robot urdf on the parameter server -->
                  <param name="robot_description" command="xacro  '$(find arm_z)/urdf/arm_z.xacro'" />
                
                  <!-- Unpause the simulation after loading the robot model -->
                  <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
                
                  <!-- Spawn the robot in Gazebo -->
                  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
                    respawn="false" output="screen" />
                
                  <!-- Load the controller parameters onto the parameter server -->
                  <rosparam file="$(find arm_moveit_config)/config/gazebo_controllers.yaml" />
                  <include file="$(dirname)/ros_controllers.launch"/>
                
                  <!-- Spawn the Gazebo ROS controllers -->
                  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
                
                  <!-- Given the published joint states, publish tf for the robot links -->
                  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
                </launch>
                
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                • 11136189301
                  阿灿 @1113618930
                  最后由 编辑

                  @1113618930 launch文件下move_group.launch代码

                  <launch>
                  
                    <!-- GDB Debug Option -->
                    <arg name="debug" default="false" />
                    <arg unless="$(arg debug)" name="launch_prefix" value="" />
                    <arg     if="$(arg debug)" name="launch_prefix"
                             value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
                  
                    <!-- Verbose Mode Option -->
                    <arg name="info" default="$(arg debug)" />
                    <arg unless="$(arg info)" name="command_args" value="" />
                    <arg     if="$(arg info)" name="command_args" value="--debug" />
                  
                    <!-- move_group settings -->
                    <arg name="pipeline" default="ompl" />
                    <arg name="allow_trajectory_execution" default="true"/>
                    <arg name="moveit_controller_manager" default="simple" />
                    <arg name="fake_execution_type" default="interpolate"/>
                    <arg name="max_safe_path_cost" default="1"/>
                    <arg name="publish_monitored_planning_scene" default="true"/>
                  
                    <arg name="capabilities" default=""/>
                    <arg name="disable_capabilities" default=""/>
                    <!-- load these non-default MoveGroup capabilities (space seperated) -->
                    <!--
                    <arg name="capabilities" value="
                                  a_package/AwsomeMotionPlanningCapability
                                  another_package/GraspPlanningPipeline
                                  " />
                    -->
                  
                    <!-- inhibit these default MoveGroup capabilities (space seperated) -->
                    <!--
                    <arg name="disable_capabilities" value="
                                  move_group/MoveGroupKinematicsService
                                  move_group/ClearOctomapService
                                  " />
                    -->
                  
                    <arg name="load_robot_description" default="false" />
                    <!-- load URDF, SRDF and joint_limits configuration -->
                    <include file="$(dirname)/planning_context.launch">
                      <arg name="load_robot_description" value="$(arg load_robot_description)" />
                    </include>
                  
                    <!-- Planning Pipelines -->
                    <group ns="move_group/planning_pipelines">
                  
                      <!-- OMPL -->
                      <include file="$(dirname)/planning_pipeline.launch.xml">
                        <arg name="pipeline" value="ompl" />
                      </include>
                  
                      <!-- CHOMP -->
                      <include file="$(dirname)/planning_pipeline.launch.xml">
                        <arg name="pipeline" value="chomp" />
                      </include>
                  
                      <!-- Pilz Industrial Motion -->
                      <include file="$(dirname)/planning_pipeline.launch.xml">
                        <arg name="pipeline" value="pilz_industrial_motion_planner" />
                      </include>
                  
                      <!-- Support custom planning pipeline -->
                      <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
                               file="$(dirname)/planning_pipeline.launch.xml">
                        <arg name="pipeline" value="$(arg pipeline)" />
                      </include>
                    </group>
                  
                    <!-- Trajectory Execution Functionality -->
                    <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
                      <arg name="moveit_manage_controllers" value="true" />
                      <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
                      <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
                    </include>
                  
                    <!-- Sensors Functionality -->
                    <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
                      <arg name="moveit_sensor_manager" value="arm_z" />
                    </include>
                  
                    <!-- Start the actual move_group node/action server -->
                    <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
                      <!-- Set the display variable, in case OpenGL code is used internally -->
                      <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
                  
                      <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
                      <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
                      <param name="default_planning_pipeline" value="$(arg pipeline)" />
                      <param name="capabilities" value="$(arg capabilities)" />
                      <param name="disable_capabilities" value="$(arg disable_capabilities)" />
                  
                      <!-- do not copy dynamics information from /joint_states to internal robot monitoring
                           default to false, because almost nothing in move_group relies on this information -->
                      <param name="monitor_dynamics" value="false" />
                  
                      <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
                      <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
                      <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
                      <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
                      <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
                    </node>
                  
                  </launch>
                  
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                  • 11136189301
                    阿灿 @1113618930
                    最后由 编辑

                    @1113618930
                    launch文件下ros_controllers.launch代码

                    <?xml version="1.0"?>
                    <launch>
                    
                      <!-- Load joint controller configurations from YAML file to parameter server -->
                      <rosparam file="$(find arm_moveit_config)/config/ros_controllers.yaml" command="load"/>
                    
                      <!-- Load the controllers -->
                      <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
                        output="screen" args="arm_position_controller "/>
                    
                    </launch>
                    
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                    • 11136189301
                      阿灿 @1113618930
                      最后由 编辑

                      此回复已被删除!
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                      • 11136189301
                        阿灿 @1113618930
                        最后由 编辑

                        @1113618930 终端命令

                        [ WARN] [1679122051.973383535]: Shutdown request received.
                        [ WARN] [1679122051.975958574]: 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 [17540]
                        [ WARN] [1679122052.288484066]: Shutdown request received.
                        [ WARN] [1679122052.291101496]: 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 [17556]
                        [ WARN] [1679122052.600755343]: Shutdown request received.
                        [ WARN] [1679122052.603466136]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
                        [WARN] [1679122052.704143, 139.932000]: 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 [17572]
                        [ WARN] [1679122052.917311873]: Shutdown request received.
                        [ WARN] [1679122052.920810009]: 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 [17598]
                        
                        
                        11136189301 3 条回复 最后回复 回复 引用 0
                        • 11136189301
                          阿灿 @1113618930
                          最后由 编辑

                          @1113618930 用moveit配置完之后,直接运行的denmo和gazebo,终端就提示这个命令,并且rviz与gazebo不能同时动。

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                          • 11136189301
                            阿灿 @1113618930
                            最后由 编辑

                            此回复已被删除!
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                            • 11136189301
                              阿灿 @1113618930
                              最后由 1113618930 编辑

                              @1113618930
                              又配置了一遍,终端又出现了错误:同样rviz与gazebo可以显示,但是不能同步运动:

                              以下是先启动rviz 的错误:

                              process[joint_state_publisher-1]: started with pid [20440]
                              process[robot_state_publisher-2]: started with pid [20441]
                              process[move_group-3]: started with pid [20442]
                              [ WARN] [1679125159.198086958]: 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.
                              process[rviz_xp_T58_D_20414_8227358618695934036-4]: started with pid [20448]
                              [ INFO] [1679125159.241425579]: Loading robot model 'arm_z'...
                              [ INFO] [1679125159.243132222]: No root/virtual joint specified in SRDF. Assuming fixed joint
                              [ INFO] [1679125159.326448510]: rviz version 1.13.29
                              [ INFO] [1679125159.326523079]: compiled against Qt version 5.9.5
                              [ INFO] [1679125159.326555090]: compiled against OGRE version 1.9.0 (Ghadamon)
                              [ INFO] [1679125159.335935604]: Forcing OpenGl version 0.
                              [ WARN] [1679125159.515196390]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
                              Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
                              [ WARN] [1679125159.526468378]: 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] [1679125159.681970, 0.000000]: The 'use_gui' parameter was specified, which is deprecated.  We'll attempt to find and run the GUI, but if this fails you should install the 'joint_state_publisher_gui' package instead and run that.  This backwards compatibility option will be removed in Noetic.
                              [ INFO] [1679125159.842614301]: Stereo is NOT SUPPORTED
                              [ INFO] [1679125159.842681098]: OpenGL device: NVIDIA GeForce GTX 1050/PCIe/SSE2
                              [ INFO] [1679125159.842705001]: OpenGl version: 4.6 (GLSL 4.6).
                              [ERROR] [1679125160.246825764]: Exception while loading Hybrid: According to the loaded plugin descriptions the class Hybrid with base class type collision_detection::CollisionPlugin does not exist. Declared types are  Bullet FCL
                              [ INFO] [1679125160.246912007]: Using collision detector:FCL
                              [ INFO] [1679125160.251768806]: Publishing maintained planning scene on 'monitored_planning_scene'
                              [ INFO] [1679125160.253526995]: Listening to 'joint_states' for joint states
                              [ INFO] [1679125160.256771120]: Listening to '/attached_collision_object' for attached collision objects
                              [ INFO] [1679125160.256815314]: Starting planning scene monitor
                              [ INFO] [1679125160.258797499]: Listening to '/planning_scene'
                              
                              
                              
                              
                              
                              11136189301 1 条回复 最后回复 回复 引用 0
                              • 11136189301
                                阿灿 @1113618930
                                最后由 编辑

                                @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]
                                
                                
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