回复: [FishBot教程] 9.0.3. 主控板固件烧录与配置 我对esp32并不熟悉，但是我按照教程用串口助手给esp32刷入了固件，我也不太清楚这些固件是什么，那么此时我是否必须还要去修改esp32的代码，使其能使用microROS。我照着快速上手的视频操作过，功能都是正常的。那么接下来，我只需要在电脑上编写ROS2的代码就行了吗@小鱼

3744c805-3601-48d9-9217-8e01e5db6589-图片.png
如图，kuka的机械臂，可以在gazebo中正常打开，但移动下方的方块砸机械臂，它一点而都不动，也尝试过直接给机械臂施加力和力矩，机械臂也不动，下面粘贴urdf部分urdf文件，

<link name="base_link"> <inertial> <origin xyz="-0.027804 0.00039112 0.14035" rpy="0.0 0.0 0.0" /> <mass value="1572.9"/> <inertia ixx="89.282" ixy="-0.47721" ixz="0.85562" iyy="107.51" iyz="0.0067576" izz="172.02"/> </inertial> <visual> <origin xyz="0.0 0.0 0.0" rpy="-1.57 0.0 0.0"/> <geometry> <mesh filename="file://$(find mybot1_description)/meshes/visual/base_link.dae" scale="1.0 1.0 1.0"/> </geometry> <material name=""> <color rgba="0.75294 0.75294 0.75294 1"/> </material> </visual> <collision> <origin xyz="0.0 0.0 0.0" rpy="-1.57 0.0 0.0"/> <geometry> <mesh filename="file://$(find mybot1_description)/meshes/collision/base_link.stl" scale="1.0 1.0 1.0"/> </geometry> </collision> </link> <link name="link_1"> <inertial> <origin xyz="-0.036811 -0.024697 0.56577" rpy="0.0 0.0 0.0"/> <mass value="1385.5"/> <inertia ixx="90.873" ixy="33.809" ixz="17.159" iyy="147.03" iyz="0.063634" izz="168.19"/> </inertial> <visual> <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/> <geometry> <mesh filename="file://$(find mybot1_description)/meshes/visual/link_1.dae" scale="1.0 1.0 1.0"/> </geometry> <material name=""> <color rgba="0.75294 0.75294 0.75294 1"/> </material> </visual> <collision> <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/> <geometry> <mesh filename="file://$(find mybot1_description)/meshes/collision/link_1.stl" scale="1.0 1.0 1.0"/> </geometry> </collision> </link> <joint name="joint_1" type="revolute"> <origin xyz="-0.00262 0.00097586 0.33099" rpy="0.0 0.0 0.0"/> <parent link="base_link"/> <child link="link_1"/> <axis xyz="0.0 0.0 1.0"/> <dynamics damping="0.1" friction="0.1"/> <limit lower="-3.228859205" upper="3.228859205" effort="1000.0" velocity="2.146755039"/> </joint>

还有部分xacro文件内容
```
<gazebo reference="link_1">
<material>Gazebo/Orange</material>
<self_collide>false</self_collide>
<gravity>true</gravity>
</gazebo>
<gazebo>
<is_static>false</is_static>
<self_collide>true</self_collide>
</gazebo>
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="joint_1">
<command_interface name="position"/>
<command_interface name="effort"/>
<!-- <command_interface name="velocity"/> -->
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

请问我在gazebo.launch文件中修改了一个机器人模型，但是命名空间是不起作用还是咋了
一直停留在[robot3.spawn_entity]：Waiting for entity xml on robot1/robot_description不显示机器人模型
具体launch修改代码如下：
import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
import os
import launch_ros.parameter_descriptions
import launch.launch_description_sources
def generate_launch_description():
# 获取功能包的share路径
urdf_package_path = get_package_share_directory('fishbot_description')
default_xacro_path = os.path.join(urdf_package_path, 'urdf', 'fishbot', 'fishbot.urdf.xacro')
default_gazebo_world_path = os.path.join(urdf_package_path, 'world', 'custom_room.world')

# 声明一个urdf目录参数，方便修改 action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument( name='model', default_value=str(default_xacro_path), description='加载的模型文件路径' ) # 处理三个机器人的URDF robot1_desc = launch.substitutions.Command(['xacro ', default_xacro_path, ' prefix:=robot1/']) robot2_desc = launch.substitutions.Command(['xacro ', default_xacro_path, ' prefix:=robot2/']) robot3_desc = launch.substitutions.Command(['xacro ', default_xacro_path, ' prefix:=robot3/']) # 第一个机器人状态发布器 robot1_state_publisher = launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', namespace='robot1', parameters=[{ 'robot_description': launch_ros.parameter_descriptions.ParameterValue(robot1_desc, value_type=str), 'frame_prefix': 'robot1/' }], ) # 第二个机器人状态发布器 robot2_state_publisher = launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', namespace='robot2', parameters=[{ 'robot_description': launch_ros.parameter_descriptions.ParameterValue(robot2_desc, value_type=str), 'frame_prefix': 'robot2/' }], ) # 第三个机器人状态发布器 robot3_state_publisher = launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', namespace='robot3', parameters=[{ 'robot_description': launch_ros.parameter_descriptions.ParameterValue(robot3_desc, value_type=str), 'frame_prefix': 'robot3/' }], ) # 启动 Gazebo 仿真环境 action_launch_gazebo = launch.actions.IncludeLaunchDescription( launch.launch_description_sources.PythonLaunchDescriptionSource( os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py') ), launch_arguments=[('world', default_gazebo_world_path), ('verbose', 'true')] ) # 将机器人1加载到 Gazebo action_spawn_robot1 = launch_ros.actions.Node( package='gazebo_ros', executable='spawn_entity.py', namespace='robot1', arguments=[ '-topic', 'robot1/robot_description', '-entity', 'robot1', '-x', '0.4', '-y', '0', '-z', '0' ], output='screen' ) # 将机器人2加载到 Gazebo action_spawn_robot2 = launch_ros.actions.Node( package='gazebo_ros', executable='spawn_entity.py', namespace='robot2', arguments=[ '-topic', 'robot2/robot_description', '-entity', 'robot2', '-x', '-0.4', '-y', '0', '-z', '0' ], output='screen' ) # 将机器人3加载到 Gazebo action_spawn_robot3 = launch_ros.actions.Node( package='gazebo_ros', executable='spawn_entity.py', namespace='robot3', arguments=[ '-topic', 'robot3/robot_description', '-entity', 'robot3', '-x', '0', '-y', '0', '-z', '0' ], output='screen' ) return launch.LaunchDescription([ action_declare_arg_mode_path, robot1_state_publisher, robot2_state_publisher, robot3_state_publisher, action_launch_gazebo, action_spawn_robot1, action_spawn_robot2, action_spawn_robot3 ])

rk3588s的板子，系统是ubuntu22.04
使用一键安装ros2 humble 桌面版后，重启系统就会到这个登陆界面fad84da0fbb5efd99d8da6afed90d61f.jpg
但是输入密码后会黑屏然后又跳回这个界面。
这是什么情况呀

2.2节用cmake编译c++时，提示python解释器没找到，我已经卸载anaconda3了，请问这个怎么解决？716b4577-a625-4f5e-a666-6333ffe7268e.png

我C++创建节点是可以正常启动节点的

python启动节点后,正常应该是 等待状态，目前我的是直接没反映，查看节点信息也没有
可能是哪个python库没安装吗，求大佬指教

（教程示例）源代码：
import rclpy
from rclpy.node import Node

def main():
rclpy.init()
node = Node("python_node")
rclpy.spin(node)
rclpy.shutdowm()

if __name__== "__main__": main()

终端启动命令：
wl@wl-VirtualBox:~/chapt1$ python3 ros2_python_node.py
wl@wl-VirtualBox:~/chapt1$ （这里直接跳出，未启动节点）

08ae98961b08e58e1f63051e5ac444b.jpg这个是怎么回事。。。

294fdc2a-5311-4364-81ab-db620fe88f2d-1745367853576.png
1、执行gazebo_sim.launch.py的时候上图问题
（1）libgazebo_ros2_control.so找不到
（2）load_controller无法连接到
dd7905a1-1581-4f89-9a2b-9e7d18efab56-image.png
2、安装完gazebo后按照教材执行查看命令的时候看不到教材示例

请问这种问题怎么解决
（补充：用gitee上的代码也是这个效果！）

ros@ros2:~/fishbot_ws$ ros2 run yolov5_ros2 yolo_detect_2d --ros-args -p device:=cpu -p image_topic:=/fishbot_camera_raw
[INFO] [1745386092.623652118] [yolov5_ros2]: Current ROS 2 distribution: humble
[INFO] [1745386092.859007222] [yolov5_ros2]: default_camera_info: [476.7030836014194, 0.0, 400.5, 0.0, 476.7030836014194, 400.5, 0.0, 0.0, 1.0]
[0.0, 0.0, 0.0, 0.0, 0.0]

ros2 topic echo /yolo_result
订阅结果为空

@小鱼 能否利用学习板中的两个步进电机插口去控制两个由步进电机控制的小机械臂转动？是否可以用fishbot中的源码呢？

import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():
# 获取默认的urdf文件路径
urdf_package_path = get_package_share_directory('fishbot_description')
default_urdf_path = os.path.join(urdf_package_path, 'urdf', 'first_robot.urdf')
# 声明一个URDF目录的参数，方便修改
action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
name = 'model',default_value=str(default_urdf_path),description='加载的模型文件路径'

) # 通过文件路径，获取内容，并转换成参数值对象，以供robot_state_publisher节点使用 substitutions_command_result = launch.substitutions.command(['cat ',launch.substitutions.LaunchConfiguration('model')]) robot_description_value = launch_ros.parameter_descriptions.ParameterValue(substitutions_command_result,value_type=str) action_robot_state_publisher = launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', parameters=[{'robot_description': robot_description_value}] ) action_joint_state_publisher = launch_ros.actions.Node( package='joint_state_publisher', executable='joint_state_publisher', ) action_rviz_node = launch_ros.actions.Node( package='rviz2', executable='rviz2', ) return launch.LaunchDescription([ action_declare_arg_mode_path, action_robot_state_publisher, action_joint_state_publisher, action_rviz_node, ])

以下是报错：[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[INFO] [launch]: All log files can be found below /home/jin/.ros/log/2025-04-22-16-49-27-291232-jin-Virtual-Machine-11473
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x74ce4db9f730>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x74ce4db9f730>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x74ce4c64fd60>'
[DEBUG] [launch]: An exception was raised in an async action/event
[DEBUG] [launch]: Traceback (most recent call last):
File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 54, in get_launch_description_from_any_launch_file
return loader(launch_file_path)
File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
return getattr(launch_file_module, 'generate_launch_description')()
File "display_robot.launch.py", line 16, in generate_launch_description
substitutions_command_result = launch.substitutions.command(['cat ',launch.substitutions.LaunchConfiguration('model')])
TypeError: 'module' object is not callable

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 336, in run_async
raise completed_tasks_exceptions[0]
File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 230, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 250, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/humble/lib/python3.10/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/humble/lib/python3.10/site-packages/launch/actions/include_launch_description.py", line 148, in execute
launch_description = self.__launch_description_source.get_launch_description(context)
File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
self._get_launch_description(self.__expanded_location)
File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
return get_launch_description_from_any_launch_file(location)
File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 57, in get_launch_description_from_any_launch_file
raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: Caught multiple exceptions when trying to load file of format [py]:

TypeError: 'module' object is not callable InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown

[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [py]:

TypeError: 'module' object is not callable InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.Shutdown'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x74ce4db9c340>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x74ce4db9c340>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x74ce4db94b50>'

开发环境用x86+ubuntu+linux，能构建出在arm64+android+linux运行的ros2程序包吗？

请教大佬：
我有一台小车，ubuntu22.04系统，电脑上是虚拟机，二者都是22.04，humble版本， 能够互相ping通，在同一网段下，电脑的防火墙也关掉后，对虚拟机进行了重启，电脑没有重启。 我想实现二者的通信。

我将二者的都设置为ROS_DOMAIN_ID=189，写在了.bashrc里。但是我小车端启动小海龟，虚拟机端启动键盘控制节点，无法实现小海龟的运动，在虚拟机端查看话题，只有发布，没有订阅。这是什么原因导致没有通讯成功呢？

b2ec0b47-e5e7-44bd-ae30-483385b89753-screenshot-20250422-114158.png /home/ubuntu/Pictures/screenshot-20250422-114158.png
在仿真环境中，cartographer使用odom建图的时候，机器人向前行驶，rviz中显示机器人不动，map往后行驶，tf显示map和base footprint在一起，odom在往后行驶,下面是使用的lua参数，

include "trajectory_builder.lua" options = { map_builder = MAP_BUILDER, trajectory_builder = TRAJECTORY_BUILDER, map_frame = "map", tracking_frame = "base_link", -- base_link改为odom,发布map到odom之间的位姿态 published_frame = "odom", odom_frame = "odom", -- true改为false，不用提供里程计数据 provide_odom_frame = false, -- false改为true，仅发布2D位资 publish_frame_projected_to_2d = true, -- false改为true，使用里程计数据 use_odometry = true, use_pose_extrapolator = false, use_nav_sat = false, use_landmarks = false, -- 0改为1,使用一个雷达 num_laser_scans = 1, -- 1改为0，不使用多波雷达 num_multi_echo_laser_scans = 0, -- 10改为1，1/1=1等于不分割 num_subdivisions_per_laser_scan = 1, num_point_clouds = 0, lookup_transform_timeout_sec = 0.2, submap_publish_period_sec = 0.3, pose_publish_period_sec = 5e-3, trajectory_publish_period_sec = 30e-3, rangefinder_sampling_ratio = 1., odometry_sampling_ratio = 1., fixed_frame_pose_sampling_ratio = 1., imu_sampling_ratio = 1., landmarks_sampling_ratio = 1., publish_tracked_pose = false, } -- false改为true，启动2D SLAM MAP_BUILDER.use_trajectory_builder_2d = true TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution =0.02 -- 0改成0.10,比机器人半径小的都忽略 TRAJECTORY_BUILDER_2D.min_range = 0.3 -- 30改成3.5,限制在雷达最大扫描范围内，越小一般越精确些 TRAJECTORY_BUILDER_2D.max_range = 30 --3.5 -- 5改成3,传感器数据超出有效范围最大值 TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3. -- true改成false,不使用IMU数据，大家可以开启，然后对比下效果 TRAJECTORY_BUILDER_2D.use_imu_data = false -- false改成true,使用实时回环检测来进行前端的扫描匹配 TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true -- 1.0改成0.1,提高对运动的敏感度 TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1) -- 0.55改成0.65,Fast csm的最低分数，高于此分数才进行优化。 POSE_GRAPH.constraint_builder.min_score = 0.65 --0.6改成0.7,全局定位最小分数，低于此分数则认为目前全局定位不准确 POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7 -- 设置0可关闭全局SLAM -- POSE_GRAPH.optimize_every_n_nodes = 0 return options

Cmake命令执行：
lei-wang@lei-wang-VMware-Virtual-Platform:~/robot1$ cmake .
-- Found rclcpp: 28.1.8 (/opt/ros/jazzy/share/rclcpp/cmake)
-- Found rosidl_generator_c: 4.6.5 (/opt/ros/jazzy/share/rosidl_generator_c/cmake)
-- Found rosidl_generator_cpp: 4.6.5 (/opt/ros/jazzy/share/rosidl_generator_cpp/cmake)
-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-- Found rmw_implementation_cmake: 7.3.2 (/opt/ros/jazzy/share/rmw_implementation_cmake/cmake)
-- Found rmw_fastrtps_cpp: 8.4.2 (/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake)
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
-- /opt/ros/jazzy/include/rclcpp/opt/ros/jazzy/include/builtin_interfaces/opt/ros/jazzy/include/libstatistics_collector/opt/ros/jazzy/include/rcl/opt/ros/jazzy/include/rcl_interfaces/opt/ros/jazzy/include/rcl_yaml_param_parser/opt/ros/jazzy/include/rcpputils/opt/ros/jazzy/include/rcutils/opt/ros/jazzy/include/rmw/opt/ros/jazzy/include/rosgraph_msgs/opt/ros/jazzy/include/rosidl_dynamic_typesupport/opt/ros/jazzy/include/rosidl_runtime_c/opt/ros/jazzy/include/rosidl_runtime_cpp/opt/ros/jazzy/include/rosidl_typesupport_cpp/opt/ros/jazzy/include/statistics_msgs/opt/ros/jazzy/include/tracetools

-- Configuring done (0.5s)
-- Generating done (0.0s)
-- Build files have been written to: /home/lei-wang/robot1

make命令执行：
lei-wang@lei-wang-VMware-Virtual-Platform:~/robot1$ make
[ 50%] Building CXX object CMakeFiles/ros2_cpp_node.dir/ros2_cpp_node.cpp.o
In file included from /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/list_parameters.hpp:7,
from /opt/ros/jazzy/include/rclcpp/rclcpp/copy_all_parameter_values.hpp:21,
from /opt/ros/jazzy/include/rclcpp/rclcpp/rclcpp.hpp:171,
from /home/lei-wang/robot1/ros2_cpp_node.cpp:2:
/opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/list_parameters__struct.hpp:267:10: fatal error: service_msgs/msg/detail/service_event_info__struct.hpp: No such file or directory
267 | #include "service_msgs/msg/detail/service_event_info__struct.hpp"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/ros2_cpp_node.dir/build.make:76: CMakeFiles/ros2_cpp_node.dir/ros2_cpp_node.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:85: CMakeFiles/ros2_cpp_node.dir/all] Error 2
make: *** [Makefile:101: all] Error 2

这是CmakeLISTS文件内容

cmake_minimum_required(VERSION 3.8)
project(ros2_cpp)
add_executable(ros2_cpp_node ros2_cpp_node.cpp)

find_package(rclcpp REQUIRED)
message(STATUS ${rclcpp_INCLUDE_DIRS})
message(STATUS ${rclcpp_LIBRAIES})

target_include_directories(ros2_cpp_node PUBLIC ${rclcpp_INCLUDE_DIRS})
target_link_libraries(ros2_cpp_node ${rclcpp_LIBRAIES})

734d89c5-fd99-4a3e-86b8-026d0862c6a6-image.png

4e725eb4-db98-4fd6-bb3b-a590e23ffcf2-image.png
瘫倒状态如上图。
虚拟机ubutun18.04

1.由ur5官方提供的stp包构建好了urdf功能包，并添加了transsion和gazebo的一些代码，urdf文件内容见如下代码1。 2.根据此urdf文件构建了moveit_config功能包，controller.yaml和launch文件也均已修改，具体内容见如下代码2、代码3 3.启动该功能包下的demo_gazebo.launch文件后，机械臂处于如图中的瘫痪状态。终端反馈信息见信息4。 注：

1.link5打错成了limk5，影响不大。
2.问题应该是出在urdf文件当中，我用已有的别人的urdf文件进行后续配置可以实现联合仿真
3.字数超限制了，部分代码放在评论区中

代码1：urdf文件：

<robot
name="ur5">

<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="base"/>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
degrees)
-->
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base"/>
</joint>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="base_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="1.42583680716296E-05 0.0563056334949455 -0.0382829688559687"
rpy="0 0 0" />
<mass
value="0.00001" />
<inertia
ixx="0.00983750560931009"
ixy="-1.72050295815961E-08"
ixz="-3.83638429985162E-07"
iyy="0.00957723573222082"
iyz="-0.00134940422444298"
izz="0.000260297506066691" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link1">
<inertial>
<origin
xyz="-4.4675E-07 0.00011808 0.010911"
rpy="0 0 0" />
<mass
value="0.00001" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link1.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0.1625"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="link1" />
<axis
xyz="0 1 0" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="1" />
</joint>
<link
name="link2">
<inertial>
<origin
xyz="-1.4509E-06 0.21249 7.775E-05"
rpy="0 0 0" />
<mass
value="0.00001" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link2.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0 0 0.1378"
rpy="0 0 0" />
<parent
link="link1" />
<child
link="link2" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="1" />
</joint>
<link
name="link3">
<inertial>
<origin
xyz="-8.4001E-07 0.16893 -0.12451"
rpy="0 0 0" />
<mass
value="0.00001" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link3.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="0 0.425 0"
rpy="0 0 0" />
<parent
link="link2" />
<child
link="link3" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="1" />
</joint>
<link
name="link4">
<inertial>
<origin
xyz="7.4437E-06 -0.0025477 0.11499"
rpy="0 0 0" />
<mass
value="0.00001" />
<inertia
ixx="1.4253E-06"
ixy="1.9401E-10"
ixz="7.4526E-11"
iyy="1.8328E-07"
iyz="-4.7712E-07"
izz="1.2421E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link4.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0 0.3922 -0.1378"
rpy="0 0 0" />
<parent
link="link3" />
<child
link="link4" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="1" />
</joint>
<link
name="limk5">
<inertial>
<origin
xyz="-9.43610718074842E-06 0.0921878890416958 -0.00395720124610782"
rpy="0 0 0" />
<mass
value="0.00001" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/limk5.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/limk5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="0 0 0.1333"
rpy="0 0 0" />
<parent
link="link4" />
<child
link="limk5" />
<axis
xyz="0 1 0" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="1" />
</joint>
<link
name="link6">
<inertial>
<origin
xyz="9.99267270212568E-09 -6.06182086970719E-07 0.0253985025583878"
rpy="0 0 0" />
<mass
value="0.00001" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link6.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0 0.0997 0.0457"
rpy="0 0 0" />
<parent
link="limk5" />
<child
link="link6" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="1" />
</joint>
<!--add transmission for every joint-->
<transmission name="trans_joint1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint1_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint2_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint3_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint4_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint5_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint6_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- add one gazebo plugin-->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
</robot>

代码2：yaml文件

#Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
joint_model_group: arm
joint_model_group_pose: init_pos
#Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
loop_hz: 300
cycle_time_error_threshold: 0.01
#Settings for ros_control hardware interface
hardware_interface:
joints:
- joint1
- joint2
- joint3
- joint4
- joint5
- joint6
sim_control_mode: 1 # 0: position, 1: velocity
#Publish all joint states
#Creates the /joint_states topic necessary in ROS
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
controller_list:

name: arm_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints: joint1 joint2 joint3 joint4 joint5 joint6
arm_controller:
type: position_controllers/JointTrajectoryController
joints: joint1 joint2 joint3 joint4 joint5 joint6
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
joint1: {
trajectory: 0.1, goal: 0.1}
joint2 : {
trajectory: 0.1, goal: 0.1}
joint3: {
trajectory: 0.1, goal: 0.1}
joint4: {
trajectory: 0.1, goal: 0.1}
joint5: {
trajectory: 0.1, goal: 0.1}
joint6: {
trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 25
action_monitor_rate: 1 代码3：controller launch文件：

<?xml version="1.0"?>
<launch>

<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find ur5_moveit_config)/config/ros_controllers.yaml" command="load"/>

<!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="spawn joint_state_controller arm_controller"/>

</launch>

运行rviz显示如下所示：
39733d4b-4ac0-429d-bb0d-f38a6cfe2134-c84d8eac439a9e40664e9803ca82360.png
求大佬指点，很急！

这是终端报错：一直说什么没有定义
截图 2025-04-18 13-39-10.png
这是yaml文件
截图 2025-04-21 11-35-39.png
这是机器人中使用ros2_control定义的joint

<ros2_control name="base_system" type="system"> <hardware> <plugin>gazebo_ros2_control/GazeboSystem</plugin> </hardware> <joint name="base_joint"> <command_interface name="velocity"> <param name="min">-1</param> <param name="max">1</param> </command_interface> <command_interface name="effort"> <param name="min">-0.1</param> <param name="max">0.1</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> <state_interface name="effort" /> </joint> <joint name="left_wheel_joint"> <command_interface name="velocity"> <param name="min">-1</param> <param name="max">1</param> </command_interface> <command_interface name="effort"> <param name="min">-0.1</param> <param name="max">0.1</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> <state_interface name="effort" /> </joint> <joint name="right_wheel_joint"> <command_interface name="velocity"> <param name="min">-1</param> <param name="max">1</param> </command_interface> <command_interface name="effort"> <param name="min">-0.1</param> <param name="max">0.1</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> <state_interface name="effort" /> </joint> <joint name="left_caster_joint"> <command_interface name="velocity"> <param name="min">-1</param> <param name="max">1</param> </command_interface> <command_interface name="effort"> <param name="min">-0.1</param> <param name="max">0.1</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> <state_interface name="effort" /> </joint> <joint name="right_caster_joint"> <command_interface name="velocity"> <param name="min">-1</param> <param name="max">1</param> </command_interface> <command_interface name="effort"> <param name="min">-0.1</param> <param name="max">0.1</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> <state_interface name="effort" /> </joint> </ros2_control> <gazebo> <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control"> <robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type> <parameters>$(find navigation_pose_python)/config/articulated_controllers.yaml</parameters> </plugin> </gazebo>

已经在这里卡了很久了，请问这是什么问题？
我在一个英文网页看到了有人遇到了相同的问题，不过他没有给出解决方法
链接文本
bc7742d4-8fec-4d2c-b593-927ac2d5de38-图片.png