使用arbotix+rviz控制xacro模型报错未定义joint，但xacro中已经创建
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使用版本虚拟机ubuntu20.04noetic
目的：arbotix功能包，键盘驱动差速小车
launch文件代码<launch> <param name="robot_description" textfile ="$(find mbot_description)/urdf/mbot_body.urdf"/> <!-- 设置GUI参数，显示关节控制插件 --> <param name="use_gui" value="ture"/> <!-- 运行joint_state_publisher节点，发布机器人的关节状态 --> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> <!-- 运行robot_state_publisher节点，发布tf --> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> <!-- 可选:用于控制关节运动的节点 --> <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui" /> <!-- 运行rviz可视化界面 --> <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_urdf.rviz" required="true"/> </launch>urdf文件（xacro文件转urdf）代码
<?xml version="1.0"?> <robot name="mbot_body" xmlns:xacro="http://www.ros.org/wiki/xacro"> <!-- 属性参数 --> <xacro:property name="M_PI" value="3.14159"/> <xacro:property name="body_length" value="0.5"/> <xacro:property name="body_width" value="0.3"/> <xacro:property name="body_height" value="0.15"/> <xacro:property name="motor_radius" value="0.03"/> <xacro:property name="motor_length" value="0.04"/> <xacro:property name="wheel_radius" value="0.08"/> <xacro:property name="wheel_length" value="0.04"/> <!-- 常用颜色定义--> <material name = "white"> <color rgba = "1 1 1 1"/> </material> <material name = "red"> <color rgba = "1 0 0 1"/> </material> <material name = "green"> <color rgba = "0 1 0 1"/> </material> <material name = "blue"> <color rgba = "0 0 1 1"/> </material> <material name = "black"> <color rgba = "0 0 0 1"/> </material> <link name="base_link"> <visual> <geometry> <box size="${body_length} ${body_width} ${body_height}"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0.0"/> <material name="blue"/> </visual> </link> <xacro:macro name="base" params="parent code x_loc y_loc z_loc"> <joint name="base_${code}_wheel_joint" type="fixed"> <origin xyz="${x_loc} ${y_loc} ${z_loc}" rpy="${M_PI/2} 0 0" /> <parent link="${parent}"/> <child link="base_${code}_wheel_link" /> <axis xyz="0 0 1"/> </joint> <link name="base_${code}_wheel_link"> <!-- 声明对象的质量，转动惯量矩阵--> <!-- <inertial> <mass value="0.001" /> <origin xyz="0 0 0" /> <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" /> </inertial> --> <!-- 声明可视化属性，放置在link标签中--> <visual> <origin xyz=" 0 0 0 " rpy="0 0 0" /> <!-- 声明放置位置以及朝向，放置在visual标签中--> <geometry> <!-- 声明形状，放置在visual标签中--> <cylinder length="${wheel_length}" radius="${wheel_radius}"/> </geometry> <material name="black"/> </visual> <!-- 声明碰撞属性--> <!-- <collision> <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> <geometry> <box size="0.01 0.01 0.07" /> </geometry> </collision> --> </link> </xacro:macro> <xacro:base parent="base_link" code="l" x_loc="0" y_loc="${body_width/2 + wheel_length/2 + motor_length/2}" z_loc="-${body_height/2 - motor_radius}"/> <xacro:base parent="base_link" code="r" x_loc="0" y_loc="-${body_width/2 + wheel_length/2 + motor_length/2}" z_loc="-${body_height/2 - motor_radius}"/> <!-- <joint name="kinect_joint" type="continuous"> --> <joint name="kinect_joint" type="fixed"> <origin rpy="0 0 0" xyz="${body_length/2-0.02} 0 ${0.035+body_height/2}"/> <parent link="base_link"/> <child link="kinect_link"/> <!--设置关节旋转参考的坐标轴--> <!-- <axis xyz="0 0 1"/> --> </joint> <link name="kinect_link"> <visual> <origin rpy="0 0 1.5708" xyz="0 0 0"/> <geometry> <mesh filename="package://mbot_description/meshes/kinect.dae"/> </geometry> </visual> </link> <!-- 定义电机的宏 1-左前轮 2-右前轮 3-右后轮 4-左后轮--> <xacro:macro name="motor" params="parent number x_loc y_loc z_loc"> <joint name="motor_${number}_joint" type="fixed"> <origin xyz="${x_loc} ${y_loc} ${z_loc}" rpy="${M_PI/2} 0 0" /> <parent link="${parent}"/> <child link="motor_${number}_link" /> </joint> <link name="motor_${number}_link"> <!-- 声明对象的质量，转动惯量矩阵--> <!-- <inertial> <mass value="0.001" /> <origin xyz="0 0 0" /> <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" /> </inertial> --> <!-- 声明可视化属性，放置在link标签中--> <visual> <origin xyz="0 0 0 " rpy="0 0 0" /> <!-- 声明放置位置以及朝向，放置在visual标签中--> <geometry> <!-- 声明形状，放置在visual标签中--> <cylinder length="${motor_length}" radius="${motor_radius}"/> </geometry> <material name="white"/> </visual> <!-- 声明碰撞属性--> <!-- <collision> <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> <geometry> <box size="0.01 0.01 0.07" /> </geometry> </collision> --> </link> </xacro:macro> <!-- 定义车轮的宏 1-左前轮 2-右前轮 3-右后轮 4-左后轮--> <xacro:macro name="wheel" params="parent number x_loc y_loc z_loc"> <joint name="wheel_${number}_joint" type="fixed"> <origin xyz="${x_loc} ${y_loc} ${z_loc}" rpy="${M_PI/2} 0 0" /> <parent link="${parent}"/> <child link="wheel_${number}_link" /> </joint> <link name="wheel_${number}_link"> <!-- 声明对象的质量，转动惯量矩阵--> <!-- <inertial> <mass value="0.001" /> <origin xyz="0 0 0" /> <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" /> </inertial> --> <!-- 声明可视化属性，放置在link标签中--> <visual> <origin xyz=" 0 0 0 " rpy="0 0 0" /> <!-- 声明放置位置以及朝向，放置在visual标签中--> <geometry> <!-- 声明形状，放置在visual标签中--> <cylinder length="${wheel_length}" radius="${wheel_radius}"/> </geometry> <material name="black"/> </visual> <!-- 声明碰撞属性--> <!-- <collision> <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> <geometry> <box size="0.01 0.01 0.07" /> </geometry> </collision> --> </link> </xacro:macro> <xacro:wheel parent="base_link" number="1" x_loc="${body_length/2 - wheel_radius}" y_loc="${body_width/2 + wheel_length/2 + motor_length/2}" z_loc="-${body_height/2 - motor_radius}"/> <xacro:wheel parent="base_link" number="2" x_loc="${body_length/2 - wheel_radius}" y_loc="-${body_width/2 + wheel_length/2 + motor_length/2}" z_loc="-${body_height/2 - motor_radius}"/> <xacro:wheel parent="base_link" number="3" x_loc="-${body_length/2 - wheel_radius}" y_loc="-${body_width/2 + wheel_length/2 + motor_length/2}" z_loc="-${body_height/2 - motor_radius}"/> <xacro:wheel parent="base_link" number="4" x_loc="-${body_length/2 - wheel_radius}" y_loc="${body_width/2 + wheel_length/2 + motor_length/2}" z_loc="-${body_height/2 - motor_radius}"/> <xacro:motor parent="base_link" number="1" x_loc="${body_length/2 - wheel_radius}" y_loc="${body_width/2}" z_loc="-${body_height/2 - motor_radius}"/> <xacro:motor parent="base_link" number="2" x_loc="${body_length/2 - wheel_radius}" y_loc="-${body_width/2}" z_loc="-${body_height/2 - motor_radius}"/> <xacro:motor parent="base_link" number="3" x_loc="-${body_length/2 - wheel_radius}" y_loc="-${body_width/2}" z_loc="-${body_height/2 - motor_radius}"/> <xacro:motor parent="base_link" number="4" x_loc="-${body_length/2 - wheel_radius}" y_loc="${body_width/2}" z_loc="-${body_height/2 - motor_radius}"/> </robot> -
2 2770010850 将这个主题转为问答主题，在