ROS Moveit:rviz和gazebo仿真出现rviz规划后gazebo没有反应

机械专业的计算机小白

已于 2022-05-17 12:39:48 修改

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分类专栏： ROS报错文章标签： xml

于 2022-04-11 13:59:49 首次发布

本文链接：https://blog.youkuaiyun.com/wzfafabga/article/details/124097445

在用rviz规划后，警告

[ WARN] [1649654675.728414350, 42.937000000]: Failed to validate trajectory: couldn't receive full current joint state within 1s

翻译：无法验证轨迹：无法在 1 秒内接收到完整的当前关节状态

问题：gazebo在一秒内没有接收到完整的轨迹（末端工具在笛卡尔空间下的轨迹规划）--关节状态（对应关节空间的轨迹规划）。

解决：

修改前的xxx_bringup_moveit.launch

<launch>
  
    <!-- Launch Gazebo  -->
    <include file="$(find probot_gazebo)/launch/probot_anno/probot_anno_gazebo_world.launch" />

    <!-- ros_control arm launch file -->
    <include file="$(find probot_gazebo)/launch/probot_anno/probot_anno_gazebo_states.launch" />   

    <!-- ros_control trajectory control dof arm launch file -->
    <include file="$(find probot_gazebo)/launch/probot_anno/probot_anno_trajectory_controller.launch" />

    <!-- moveit launch file -->
    <include file="$(find probot_anno_moveit_config)/launch/moveit_planning_execution.launch" />

</launch>