在编译成功后运行代码出错

[zouzehua]

ros版本：neotic

运行launch文件报错

[MingshanHe]

请问运行的是那一段命令，遇到的这个错误。

[MingshanHe]

经过编译与调试仍未出现您这种情况，希望您能够提供更细节的操作，方便我复现这个错误。

[zouzehua]

您好，我就是在运行roslaunch ur_gazebo ur5e_bringup.launch transmission_hw_interface:=hardware_interface/PositionJointInterface specified_controller:=cartesian_velocity_controller这个命令出现的错误，其他几个加载gazebo的命令也是出现相同的错误

[zouzehua]

您好，本来最开始我git下来整个包编译不通过

我就试着把control_algorithms里面的impedance文件夹删了，结果编译成功，然后我运行其他控制代码加载gazebo都会报错，模型可以加载出来， roslaunch ur_gazebo ur5e_bringup.launch transmission_hw_interface:=hardware_interface/PositionJointInterface specified_controller:=cartesian_velocity_controller roslaunch mir_gazebo mir_empty_world.launch roslaunch ur_gazebo ur5e_bringup.launch transmission_hw_interface:=hardware_interface/PositionJointInterface specified_controller:=cartesian_velocity_controller environment:=polish

[MingshanHe]

| line 79 in ur_description/urdf/inc/ur_macro.xacro `

<link name="${prefix}base_link_inertia">
  <visual>
    <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
    <geometry>
      <mesh filename="${base_visual_mesh}"/>
    </geometry>
    <material name="${base_visual_material_name}">
      <color rgba="${base_visual_material_color}"/>
    </material>
  </visual>
  <collision>
    <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
    <geometry>
      <mesh filename="${base_collision_mesh}"/>
    </geometry>
  </collision>
  <xacro:cylinder_inertial radius="${base_inertia_radius}" length="${base_inertia_length}" mass="${base_mass}">
    <origin xyz="0 0 0" rpy="0 0 0" />
  </xacro:cylinder_inertial>
</link>

| line 223 in ur_description/urdf/inc/ur_macro.xacro

` Please check this file in this project. I think you have installed another ur_description with `apt`, so the solution may remove them (official ur_description package).

[zouzehua]

I checked the urdf file in ur_description, the code is the same as yours. My entire code is downloaded from your repository. I don't know if it is a problem with the ros version

[MingshanHe]

@zouzehua I still don't understand why this works in the CI (including the impedance package) and does not for you. My code has been tested in the noetic version, so it is not the main problem with your error. I think you could try to remove the ur_description package and install the official package with apt, like sudo apt-get install ros-noetic-ur-description.

[zouzehua]

I solved it by reinstalling the ubuntu

[ZZWang21]

Hi @zouzehua which devel did you git? noetic or sim-devel? Thanks.