gazebo仿真时在加入差分运动插件后没有cmd_vel话题

最新推荐文章于 2023-07-25 14:49:12 发布

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最新推荐文章于 2023-07-25 14:49:12 发布 · 3.1k 阅读

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CC 4.0 BY-SA版权

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#自动驾驶 #人工智能 #机器学习

一、问题描述：

gazebo仿真时在加入差分运动插件后没有cmd_vel话题

joes@joes:~/jiao/ROS_Project$ roslaunch ros23_urdf02_gazebo demo03_gazebo_env.launch
... logging to /home/joes/.ros/log/6cceca6e-4837-11ec-9542-14f6d8d77445/roslaunch-joes-10392.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
started roslaunch server http://localhost:40573/

SUMMARY
========

PARAMETERS
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.17
* /use_sim_time: True

NODES
/
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    spawn_model1 (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [10416]
process[gazebo_gui-2]: started with pid [10421]
process[spawn_model1-3]: started with pid [10426]
[ INFO] [1637235817.256610584]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1637235817.257288041]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1637235817.258918130]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1637235817.261062997]: waitForService: Service [/gazebo/set_physics_properties] has not been a