No p gain specified for pid.

最新推荐文章于 2023-05-20 23:57:26 发布

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最新推荐文章于 2023-05-20 23:57:26 发布 · 2.4k 阅读

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本文介绍了解决在使用ROS Melodic与Gazebo进行机器人仿真时出现的PID增益未指定错误的方法。通过修改配置文件arm_gazebo_control.yaml，添加关节PID增益设置来消除错误提示。

最近在用虚拟机 ubuntu18.04 ros-melodic 学习《ROS机器人开发实践》中的Moveit部分，运行gazebo仿真部分的源码时出现了报错

报错信息：

[ERROR] [1671093720.250605285, 0.367000000]: No p gain specified for pid.  Namespace: /arm/gazebo_ros_control/pid_gains/joint1
[ERROR] [1671093720.251394073, 0.367000000]: No p gain specified for pid.  Namespace: /arm/gazebo_ros_control/pid_gains/joint2
[ERROR] [1671093720.252025035, 0.367000000]: No p gain specified for pid.  Namespace: /arm/gazebo_ros_control/pid_gains/joint3
[ERROR] [1671093720.252637846, 0.367000000]: No p gain specified for pid.  Namespace: /arm/gazebo_ros_control/pid_gains/joint4
[ERROR] [1671093720.253241898, 0.367000000]: No p gain specified for pid.  Namespace: /arm/gazebo_ros_control/pid_gains/joint5
[ERROR] [1671093720.253777878, 0.367000000]: No p gain specified for pid.  Namespace: /arm/gazebo_ros_control/pid_gains/joint6
[ERROR] [1671093720.254317042, 0.367000000]: No p gain specified