Moveit2 解决：[rviz2-3] Error: Could not parse the SRDF XML File. Error=XML_ERROR_EMPTY_DOCUMENT Erro

报错内容：

[rviz2-3] [ERROR] [1740387577.396728272] [rviz]: Could not find parameter robot_description_semantic and did not receive robot_description_semantic via std_msgs::msg::String subscription within 10.000000 seconds.
[rviz2-3] Error:   Could not parse the SRDF XML File. Error=XML_ERROR_EMPTY_DOCUMENT ErrorID=13 (0xd) Line number=0
[rviz2-3]          at line 732 in ./src/model.cpp
[rviz2-3] [ERROR] [1740387577.403127419] [moveit_rdf_loader.rdf_loader]: Unable to parse SRDF
[rviz2-3] [ERROR] [1740387577.413536821] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Robot model not loaded

 

问题描述：

使用moveit_setup_assistant配置自己的urdf后，运行demo.launch出现如上报错，显示srdf加载失败

解决办法：

将config/joint_limits.yaml中的

max_velocity: 5

设置为浮点数 

max_velocity: 5.0

原因是config/joint_limits.yaml中的max_velocity应为浮点数，若是整数会报错