求助：moveit+gazebo机械臂只在moveit规划，gazebo里面不运动，也不报错？

这是是moveit和gazebo的图，用的kinetic版本。

 

 

 

 

这是rostopic

/attached_collision_object
/clock
/collision_object
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal
/execute_trajectory/result
/execute_trajectory/status
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/head_mount_kinect/depth_registered/points
/joint_states
/move_group/cancel
/move_group/display_contacts
/move_group/display_planned_path
/move_group/feedback
/move_group/filtered_cloud
/move_group/goal
/move_group/monitored_planning_scene
/move_group/ompl/parameter_descriptions
/move_group/ompl/parameter_updates
/move_group/plan_execution/parameter_descriptions
/move_group/plan_execution/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/sense_for_plan/parameter_descriptions
/move_group/sense_for_plan/parameter_updates
/move_group/status
/move_group/trajectory_execution/parameter_descriptions
/move_group/trajectory_execution/parameter_updates
/pickup/cancel
/pickup/feedback
/pickup/goal
/pickup/result
/pickup/status
/place/cancel
/place/feedback
/place/goal
/place/result
/place/status
/planning_scene
/planning_scene_world
/recognized_object_array
/rosout
/rosout_agg
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full
/rviz_yyh_Lenovo_Legion_Y7000_9130_3836217751506773743/motionplanning_planning_scene_monitor/parameter_descriptions
/rviz_yyh_Lenovo_Legion_Y7000_9130_3836217751506773743/motionplanning_planning_scene_monitor/parameter_updates
/tf
/tf_static
/trajectory_execution_event
/zhu/arm_joint_controller/command
/zhu/arm_joint_controller/follow_joint_trajectory/cancel
/zhu/arm_joint_controller/follow_joint_trajectory/feedback
/zhu/arm_joint_controller/follow_joint_trajectory/goal
/zhu/arm_joint_controller/follow_joint_trajectory/result
/zhu/arm_joint_controller/follow_joint_trajectory/status
/zhu/arm_joint_controller/state
/zhu/joint_states

这是终端中运行结果：