Found 3 error(s).

ERROR The following nodes should be connected but aren't:
 * /move_base->/move_base (/move_base/local_costmap/footprint)
 * /move_base->/move_base (/move_base/global_costmap/footprint)

ERROR TF re-parenting contention:
 * reparenting of [right_wheel_link] to [base_footprint] by [/gazebo]
 * reparenting of [left_wheel_link] to [base_footprint] by [/gazebo]
 * reparenting of [left_wheel_link] to [base_link] by [/robot_state_publisher]
 * reparenting of [right_wheel_link] to [base_link] by [/robot_state_publisher]

ERROR TF multiple authority contention:
 * node [/gazebo] publishing transform [right_wheel_link] with parent [base_footprint] already published by node [/robot_state_publisher]
 * node [/gazebo] publishing transform [left_wheel_link] with parent [base_footprint] already published by node [/robot_state_publisher]
 * node [/robot_state_publisher] publishing transform [left_wheel_link] with parent [base_link] already published by node [/gazebo]
 * node [/robot_state_publisher] publishing transform [right_wheel_link] with parent [base_link] already published by node [/gazebo]

以上是执行了roswtf检验的结果。

gmapping终端报错如下:

[ WARN] [1634697967.126221584, 395.675000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame right_wheel_link at time 395.669000 according to authority unknown_publisher

感觉应该是joint_state_publisher发布了tf,gazebo也发布了