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