【control_manager】无法加载，gazebo_ros2_control 0.4.8，机械臂乱飞

news2024/11/19 13:19:49

删除URDF和SDRF文件中的特殊注释`#, !,：`

xacro文件解析为字符串时出现报错
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一开始疯狂报错Waiting for '/controller_manager' node to exist

1717585645.4673686 [spawner-2] [INFO] [1717585645.467015300] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
1717585647.4782753 [spawner-2] [INFO] [1717585647.478000995] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
1717585649.4881501 [spawner-2] [ERROR] [1717585649.487808213] [spawner_joint_state_broadcaster]: Controller manager not available
1717585649.6335490 [ERROR] [spawner-2]: process has died [pid 39251, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager controller_manager --ros-args'].
1717585649.6425650 [INFO] [spawner-8]: process started with pid [39588]

1）是控制器没安装，把所有控制器都安装一遍后

sudo apt-get install ros-humble-controller-manager
sudo apt install ros-humble-ros2-control
sudo apt-get install ros-humble-gazebo-ros2-control

sudo apt install ros-humble-gazebo-ros-pkgs

Controller manager not available in ROS2
确认安装

ros2 pkg list | grep ros2_control
ros2 pkg list | grep ros2_controllers

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#更新软件源
sudo add-apt-repository ppa:openrobotics/gazebo11-non-amd64
sudo apt update
# 安装gazebo11
sudo apt install gazebo
sudo apt install ros-humble-gazebo-*

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此时，注意到gazebo_ros2_control为最新版0.4.8

我遇到的问题就是在另一台虚拟机上可以正常进行moveit2+Rviz+Gazebo的联合仿真，但是相同的文件换一台电脑就无法执行了。
Rviz中显示报错TF有部分显示No transform from [..._link] to [world]

2)命名空间问题？Unicode编码？Fix Frame设置？gazebo世界模型加载失败？

安装Unicode

sudo apt-get install unicode

下载Gazebo模型到本地~/.gazebo/models

cd ~/.gazebo/models/
wget http://file.ncnynl.com/ros/gazebo_models.txt
wget -i gazebo_models.txt
ls model.tar.g* | xargs -n1 tar xzvf

rviz模型显示异常，且rviz中提示rviz No transform from [link1] to [link2]

/spawn_entity无响应，RViz模型加载失败

日志管理器

ros2 run rqt_console rqt_console

Node: gazebo_ros2_control Time: 21:06:37.236569001 (2024-06-05) Severity: Error

parser error Couldn’t parse parameter override rule: '–param
robot_description:=<?xml version="1.0" ?>

<mesh filename="file:///home/jjmczd/test/install/dual_descr, at ./src/rcl/arguments.c:343

Location: ./src/gazebo_ros2_control_plugin.cpp:Load:260