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AuboRobot / aubo_robot

Developed for aubo robot (http://www.aubo-robotics.cn/)
http://wiki.ros.org/aubo_robot
BSD 3-Clause "New" or "Revised" License
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kinetic launch gazebo error:GazeboRosControlPlugin missing <legacyModeNS> #60

Closed luffycheung closed 3 years ago

luffycheung commented 3 years ago

ros kinetic branch: when launch gazebo aubo_i5 simulation,in the following error: GazeboRosControlPlugin missing <legacyModeNS> while using DefaultRobotHWSim, defaults to true. This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead. If you do not want to fix this issue in an old package just set <legacyModeNS> to true.

fixed:gazebo_ros_control-plugin-gazeboroscontrolplugin-missing-legacymodens-defaultrobothwsim

step: roscd aubo_gazebo/urdf/ gedit aubo_i5.xacro modified to:

  <!-- ros_control plugin -->
  <gazebo>
      <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
          <robotNamespace>/aubo_i5</robotNamespace>
          <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
          <legacyModeNS>true</legacyModeNS>
      </plugin>
  </gazebo>

relaunch the rviz and gazebo : rviz

    1.roslaunch <robot_name>_moveit_config moveit_planning_execution.launch robot_ip:=127.0.0.1

gazebo

    2.roslaunch aubo_gazebo aubo_<robot_name>_gazebo_control.launch