gazebo， No p gain specified for pid.
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在终端运行launch文件后，提示无法获取pid，这个错误怎么改？（错误在代码最后）
ros1@ubuntu:~$ roslaunch ur_gazebo ur5.launch ... logging to /home/ros1/.ros/log/9464e26c-dc92-11ec-9691-000c2939b349/roslaunch-ubuntu-4950.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://ubuntu:42715/ SUMMARY ======== PARAMETERS * /arm_controller/action_monitor_rate: 10 * /arm_controller/constraints/elbow_joint/goal: 0.1 * /arm_controller/constraints/elbow_joint/trajectory: 0.1 * /arm_controller/constraints/goal_time: 0.6 * /arm_controller/constraints/shoulder_lift_joint/goal: 0.1 * /arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1 * /arm_controller/constraints/shoulder_pan_joint/goal: 0.1 * /arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1 * /arm_controller/constraints/stopped_velocity_tolerance: 0.05 * /arm_controller/constraints/wrist_1_joint/goal: 0.1 * /arm_controller/constraints/wrist_1_joint/trajectory: 0.1 * /arm_controller/constraints/wrist_2_joint/goal: 0.1 * /arm_controller/constraints/wrist_2_joint/trajectory: 0.1 * /arm_controller/constraints/wrist_3_joint/goal: 0.1 * /arm_controller/constraints/wrist_3_joint/trajectory: 0.1 * /arm_controller/joints: ['shoulder_pan_jo... * /arm_controller/state_publish_rate: 25 * /arm_controller/stop_trajectory_duration: 0.5 * /arm_controller/type: position_controll... * /gazebo/enable_ros_network: True * /joint_group_position_controller/joints: ['shoulder_pan_jo... * /joint_group_position_controller/type: position_controll... * /joint_state_controller/publish_rate: 50 * /joint_state_controller/type: joint_state_contr... * /robot_description: <?xml version="1.... * /robot_state_publisher/publish_frequency: 50.0 * /robot_state_publisher/tf_prefix: * /rosdistro: melodic * /rosversion: 1.14.13 * /use_sim_time: True NODES / arm_controller_spawner (controller_manager/controller_manager) fake_joint_calibration (rostopic/rostopic) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_state_controller_spawner (controller_manager/controller_manager) robot_state_publisher (robot_state_publisher/robot_state_publisher) ros_control_controller_manager (controller_manager/controller_manager) spawn_gazebo_model (gazebo_ros/spawn_model) auto-starting new master process[master]: started with pid [4964] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 9464e26c-dc92-11ec-9691-000c2939b349 process[rosout-1]: started with pid [4975] started core service [/rosout] process[gazebo-2]: started with pid [4978] process[gazebo_gui-3]: started with pid [4983] process[spawn_gazebo_model-4]: started with pid [4988] process[robot_state_publisher-5]: started with pid [4989] process[fake_joint_calibration-6]: started with pid [4990] process[joint_state_controller_spawner-7]: started with pid [4991] process[arm_controller_spawner-8]: started with pid [4992] process[ros_control_controller_manager-9]: started with pid [4993] INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/home/ros1/.ros/log/latest' INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/home/ros1/.ros/log/latest' [ INFO] [1653528273.312356156]: Finished loading Gazebo ROS API Plugin. [ INFO] [1653528273.313913371]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1653528273.315547444]: Finished loading Gazebo ROS API Plugin. [ INFO] [1653528273.318966283]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [INFO] [1653528273.682005, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1653528273.687196, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1653528273.990580, 0.000000]: Calling service /gazebo/spawn_urdf_model [ INFO] [1653528274.007385787]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1653528274.172253, 0.080000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1653528274.181652473, 0.080000000]: Physics dynamic reconfigure ready. [spawn_gazebo_model-4] process has finished cleanly log file: /home/ros1/.ros/log/9464e26c-dc92-11ec-9691-000c2939b349/spawn_gazebo_model-4*.log [ INFO] [1653528274.338302231, 0.080000000]: Loading gazebo_ros_control plugin [ INFO] [1653528274.338409893, 0.080000000]: Starting gazebo_ros_control plugin in namespace: / [ INFO] [1653528274.366716428, 0.080000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server. [ERROR] [1653528274.544997120, 0.080000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_pan_joint [ERROR] [1653528274.545650376, 0.080000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_lift_joint [ERROR] [1653528274.546259007, 0.080000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/elbow_joint [ERROR] [1653528274.546905662, 0.080000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint [ERROR] [1653528274.547510958, 0.080000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint [ERROR] [1653528274.548099060, 0.080000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_3_joint -
@821234877 解决了吗啊，giegie
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无视即可，无伤大雅
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@2591102423 无视即可，自己调的效果还不如不配的。
