moveit+gazebo联合仿真，gazebo中的机械臂不跟着moveit中的联动
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@小鱼 我ros用了melodic跟noetic都试过，是同样的问题！
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@小鱼 ubuntu18.04 跟 ubuntu20.04
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@2308607900 仔细看了下，没啥看出啥问题，gazebo里的模型和rviz里的姿态是一致的，而且状态都是Executed，表示已经执行了，应该不存在不执行的问题。
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@小鱼 谢谢小鱼我再仔细研究一下
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@2308607900 我之前也遇到过类似的问题，你在config中写一个controller.yaml文件试试
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@霜丶川 问题是urdf文件没配置好，问题已经解决！
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@2308607900 亲，我也遇到了相似的问题，在rviz里能动，但是到了gzebo里报错。
报错内容：
[ERROR] [1669167751.277877941, 37.752000000]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_1 joint_2 joint_3 joint_4 ]
[ERROR] [1669167751.277897873, 37.752000000]: Known controllers and their joints:[ERROR] [1669167751.277925647, 37.752000000]: Apparently trajectory initialization failed
亲，知道我这个是怎么回事么，我在社区也提问了，有更详细的配置信息。
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@1769564038 仔细看看你的urdf文件的joint跟你的controller写的能否对应上，希望对你有帮助！
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unbuntu18.04 melodic 双系统
大佬，我也出现这个问题了。我是初学者，使用moveit配置了自己的机械臂之后，所有的moveit_config文件我都不敢动，然后直接运行：demo.launch和gazebo.launch之后。我的不报错，在rviz和gazebo中可以正常显示，但是planning，以及execute之后，gazebo不动。终端只有警告说[ WARN] [1679115031.894114016]: Shutdown request received.
[ WARN] [1679115031.898257196]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]重名了，但是我也不知道它节点具体在哪个包重名了，改都不知道去哪里改。你在跑的时候遇见过吗？四天了，来来回回重新配置了许多次，求帮忙看看。谢谢
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@1113618930 [ WARN] [1679115440.455739215, 770.246000000]: Shutdown request received.
[ WARN] [1679115440.458231438, 770.248000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[WARN] [1679115440.666237, 770.446000]: 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/55428a7c-c539-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [21011] -
@2308607900 您好，想请问一下，返回给gazebo的那个action_topic是哪一步编写的呢？
