这是urdf模型里面的transmission文件和控制器可能出错的地方,麻烦大佬指教。!!!   单独打开gazebo机械臂是可以初始状态的,一旦moveit+gazebo联合仿真,报错,机械臂倒下,rviz里出不来机械臂模型。

<xacro:macro name="transmission" params="prefix">

    <transmission name="${prefix}joint_1_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}joint_1_joint">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="${prefix}joint_1_motor">
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>





  probot_anno:
    arm_joint_controller:
      type: "position_controllers/JointTrajectoryController"
      joints:
        - joint_1
        - joint_2
        - joint_3
        - joint_4
        - joint_5
        - joint_6


      gains:
        joint_1: {p: 100, i: 0.01, d: 10}
        joint_2: {p: 100, i: 0.01, d: 10}
        joint_3: {p: 100, i: 0.01, d: 10}
        joint_4: {p: 100, i: 0.01, d: 10}
        joint_5: {p: 100, i: 0.01, d: 10}
        joint_6: {p: 100, i: 0.01, d: 10}