文章目录

终端输出的错误

解决方法

终端输出的错误没有设置 pid：

[ERROR] [1627052671.393262001, 0.145000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_pan_joint
[ERROR] [1627052671.393864586, 0.145000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_lift_joint
[ERROR] [1627052671.394434914, 0.145000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/elbow_joint
[ERROR] [1627052671.394998115, 0.145000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
[ERROR] [1627052671.395562500, 0.145000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
[ERROR] [1627052671.396130924, 0.145000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_3_joint

解决方法找到下面这个文件：

复制该段内容：

  /gazebo_ros_control:
    pid_gains:
      shoulder_pan_joint:
        p: 100.0
        i: 0.01
        d: 10.0
      shoulder_lift_joint:
        p: 100.0
        i: 0.01
        d: 10.0
      elbow_joint:
        p: 100.0
        i: 0.01
        d: 10.0
      wrist_1_joint:
        p: 100.0
        i: 0.01
        d: 10.0
      wrist_2_joint:
        p: 100.0
        i: 0.01
        d: 10.0
      wrist_3_joint:
        p: 100.0
        i: 0.01
        d: 10.0

粘贴到下面的位置（注意缩进）：