GazeboRosControlPlugin отсутствует <legacyModeNS>
Есть похожий вопрос, который остался без ответа здесь: Ошибка в ROS: Контроллер Spawner не смог найти ожидаемый интерфейс ROS controller_manager
У меня есть рабочее пространство ROS с файлом запуска, который работал в последний раз, когда я его запускал. Он запускает симулятор Gazebo, несколько узлов ROS, робота и RVIZ. Но сейчас это не удается. это просто запирает и умирает. Я не делал никаких изменений. Прошло несколько месяцев с момента моего последнего запуска....
Вот сообщение об ошибке, но я не уверен, является ли это проблемой или нет:
[ОШИБКА] [1559523160.995762178]: отсутствует параметр GazeboRosControlPlugin при использовании DefaultRobotHWSim, по умолчанию установлено значение true. Этот параметр предполагает, что у вас есть старый пакет со старой реализацией DefaultRobotHWSim, где robotNamespace не учитывается и вместо него используются абсолютные пути. Если вы не хотите исправлять эту проблему в старом пакете, просто установите значение true.
Он говорит, что по умолчанию имеет значение true, но предлагает установить для legacyModeNS значение true. Я попробовал это. Я добавил элемент legacyModeNS к элементу. Кажется, это не имеет никакого эффекта.
Вот результат запуска файла запуска. Я не уверен, как быть более конкретным.
$ roslaunch ackermann_vehicle_gazebo ackermann_vehicle_lidar.launch
... logging to /home/ben/.ros/log/5d94232a-859b-11e9-a629-6057183a88a6/roslaunch-ben-ThinkPad-S5-Yoga-15-18073.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
deprecated: xacro tags should be prepended with 'xacro' xml namespace.
Use the following script to fix incorrect usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'
when processing file: /home/ben/workspaces/ROS/ackermann/src/ackermann_vehicle-1/ackermann_vehicle_description/urdf/ackermann_2.xacro
xacro.py is deprecated; please use xacro instead
started roslaunch server http://ben-ThinkPad-S5-Yoga-15:33017/
SUMMARY
========
PARAMETERS
* /ackermann_controller/cmd_timeout: 0.5
* /ackermann_controller/left_front_wheel/axle_controller_name: left_front_axle_c...
* /ackermann_controller/left_front_wheel/diameter: 0.5842
* /ackermann_controller/left_front_wheel/steering_controller_name: left_steering_ctrlr
* /ackermann_controller/left_front_wheel/steering_link_name: left_front_wheel
* /ackermann_controller/left_rear_wheel/axle_controller_name: left_rear_axle_ctrlr
* /ackermann_controller/left_rear_wheel/diameter: 0.5842
* /ackermann_controller/left_rear_wheel/link_name: left_rear_wheel
* /ackermann_controller/right_front_wheel/axle_controller_name: right_front_axle_...
* /ackermann_controller/right_front_wheel/diameter: 0.5842
* /ackermann_controller/right_front_wheel/steering_controller_name: right_steering_ctrlr
* /ackermann_controller/right_front_wheel/steering_link_name: right_front_wheel
* /ackermann_controller/right_rear_wheel/axle_controller_name: right_rear_axle_c...
* /ackermann_controller/right_rear_wheel/diameter: 0.5842
* /ackermann_controller/right_rear_wheel/link_name: right_rear_wheel
* /ackermann_controller/shock_absorbers: [{'controller_nam...
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /use_sim_time: True
* /vehicle_state_publisher/publish_frequency: 30.0
NODES
/
ackermann_controller (ackermann_vehicle_gazebo/ackermann_controller)
controller_spawner (controller_manager/spawner)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
rviz (rviz/rviz)
spawn_vehicle (gazebo_ros/spawn_model)
twist_to_ackermann (twist_to_ackermann-1/twist_to_ackermann)
vehicle_state_publisher (robot_state_publisher/robot_state_publisher)
viewer (image_view/image_view)
auto-starting new master
process[master]: started with pid [18088]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 5d94232a-859b-11e9-a629-6057183a88a6
process[rosout-1]: started with pid [18101]
started core service [/rosout]
process[vehicle_state_publisher-2]: started with pid [18125]
process[gazebo-3]: started with pid [18126]
process[gazebo_gui-4]: started with pid [18135]
process[spawn_vehicle-5]: started with pid [18146]
process[controller_spawner-6]: started with pid [18156]
process[ackermann_controller-7]: started with pid [18159]
process[twist_to_ackermann-8]: started with pid [18166]
process[viewer-9]: started with pid [18175]
process[rviz-10]: started with pid [18199]
[ INFO] [1559523796.701851613]: Using transport "raw"
[ INFO] [1559523796.818342730]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1559523796.826092041]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1559523796.963544372]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1559523796.965595041]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Warning [parser.cc:778] XML Element[legacyModeNS], child of element[model] not defined in SDF. Ignoring[legacyModeNS]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[ INFO] [1559523798.748210474]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1559523798.752299432]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1559523806.139764458]: Velodyne laser plugin ready, 16 lasers
[ INFO] [1559523806.242987825]: Loading gazebo_ros_control plugin
[ERROR] [1559523806.243725205]: 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.
[ INFO] [1559523806.244814434]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1559523806.263409792]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ WARN] [1559523806.384039744]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'left_front_shock'.
[ WARN] [1559523806.386157327]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'left_steering_joint'.
[ WARN] [1559523806.388570962]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'left_front_axle'.
[ WARN] [1559523806.389766077]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'right_front_shock'.
[ WARN] [1559523806.391055119]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'right_steering_joint'.
[ WARN] [1559523806.392667733]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'right_front_axle'.
[ WARN] [1559523806.395172338]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'left_rear_shock'.
[ WARN] [1559523806.397672154]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'left_rear_axle'.
[ WARN] [1559523806.399033501]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'right_rear_shock'.
[ WARN] [1559523806.400216493]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'right_rear_axle'.
[spawn_vehicle-5] process has finished cleanly
log file: /home/ben/.ros/log/5d94232a-859b-11e9-a629-6057183a88a6/spawn_vehicle-5*.log
[ INFO] [1559523806.417305735]: Loaded gazebo_ros_control.