@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]
