ros-melodic urdf Could not find the GUI, install the ‘joint_state_publisher_gui‘ package

已于 2024-10-04 14:16:30 修改
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文章标签： ubuntu linux 运维
于 2024-10-04 14:14:40 首次发布
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本文链接：https://blog.csdn.net/qq_21258589/article/details/142702851 

[ WARN] [1728021578.886671189]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
[ WARN] [1728021578.932675711]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[WARN] [1728021579.099473]: The 'use_gui' parameter was specified, which is deprecated.  We'll attempt to find and run the GUI, but if this fails you should install the 'joint_state_publisher_gui' package instead and run that.  This backwards compatibility option will be removed in Noetic.
[ERROR] [1728021579.101573]: Could not find the GUI, install the 'joint_state_publisher_gui' package
[joint_state_publisher-2] process has died [pid 108314, exit code 1, cmd /opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/chuanmei/.ros/log/d6e4b6aa-8215-11ef-970b-000c2997208d/joint_state_publisher-2.log].
log file: /home/chuanmei/.ros/log/d6e4b6aa-8215-11ef-970b-000c2997208d/joint_state_publisher-2*.log

[ERROR] [1728021579.101573]: Could not find the GUI, install the 'joint_state_publisher_gui' package

 解决办法

melodic版本

sudo apt-get install ros-melodic-joint-state-publisher-gui

kinetic 版本

sudo apt-get install ros-kinetic-joint-state-publisher-gui

joint_state_publisher_gui
qq_44775361的博客
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运行命令 roslaunch mbot_description display_mbot_base_urdf.launch 报错提示 [ERROR] [1623830342.293844]: Could not find the GUI, install the 'joint_state_publisher_gui' package [joint_state_publisher-2] process has died [pid 8007, exit code 1, cmd /opt/ros/kinetic
ROS无法下载ros-melodic-joint-state-publisher-gui参考办法
bj_小林的博客
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Melodic 1、错误信息是这样的 [WARN] [1582867522.390661]: The 'use_gui' parameter was specified, which is deprecated. We'll attempt to find and run the GUI, but if this fails you should install the 'joint_state_publisher_gui' package instead and run that. This back
ROS问题解决: Could not find the GUI, install the ‘joint_state_publisher_gui‘ package
qq_40660130的博客
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问题描述: Could not find the GUI, install the ‘joint_state_publisher_gui‘ package 解决方案 根据自己的ros版本修改 ros-()-joint-state-publisher-gui sudo apt-get install ros-kinetic-joint-state-publisher-gui
Could not find the GUI, install the ‘joint_state_publisher_gui‘ package
qqliuzhitong的博客
05-18 552
问题： Could not find the GUI, install the 'joint_state_publisher_gui' package 原因： 缺少相关工具包。 解决办法： 安装joint_state_publisher_gui包： sudo apt-get install ros-kinetic-joint-state-publisher-gui
ROS:启动urdf的launch时报错：Could not find the GUI, install the ‘joint_state_publisher_gui’ package. 解决方式
qq_39400324的博客
05-27 1033
问题描述：启动urdf的launch时报错：Could not find the GUI, install the ‘joint_state_publisher_gui’ package. 解决方式： 第一步，$ sudo apt-get install ros-kinetic-joint-state-publisher-gui 这个安装好后，运行之前的urdf文件，发现出现一个warning如下： [WARN] [1653658952.239812]: The ‘use_gui’ parameter w
关于ubuntu18.04安装ROS_melodic 、Moveit、ompl
zhouyutie2789的博客
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a）下载依赖文件： sudo apt-get install python-wstool python-catkin-tools clang-format-3.9。安装后需要对ccache进行一系列的配置，要在所有受支持的编译器中自动使用ccache，需要将/ usr / lib / ccache目录放在PATH之前。步骤1：下载源代码：访问 OpenCV 的 GitHub 仓库（在寻找 OpenCV 3，但系统中安装的是 OpenCV 4.1.1，包需要的 OpenCV 版本与系统中安装的版本不匹配。
（26）ROS学习-URDF语法详解_joint-系列学习于Autolabor
weixin_52734156的博客
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URDF语法详解_joint
zl@zl-virtual-machine:~/catkin_ws$ roslaunch gazebo_pkg race.launch ... logging to /home/zl/.ros/log/a85ae268-5ca4-11f0-b935-318c9b5216ae/roslaunch-zl-virtual-machine-3453.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://127.0.0.1:33879/ SUMMARY ======== PARAMETERS * /gazebo/enable_ros_network: True * /robot_description: <?xml version="1.... * /rosdistro: noetic * /rosversion: 1.17.4 * /use_sim_time: True NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_state_publisher (joint_state_publisher/joint_state_publisher) robot_state_publisher (robot_state_publisher/robot_state_publisher) urdf_spawner (gazebo_ros/spawn_model) ROS_MASTER_URI=http://127.0.0.1:11311 process[gazebo-1]: started with pid [3468] process[gazebo_gui-2]: started with pid [3471] process[urdf_spawner-3]: started with pid [3476] process[joint_state_publisher-4]: started with pid [3479] process[robot_state_publisher-5]: started with pid [3480] Traceback (most recent call last): File "/opt/ros/noetic/lib/gazebo_ros/spawn_model", line 20, in <module> import rospy File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 49, in <module> from .client import spin, myargv, init_node, \ File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 52, in <module> import roslib File "/opt/ros/noetic/lib/python3/dist-packages/roslib/__init__.py", line 50, in <module> from roslib.launcher import load_manifest # noqa: F401 File "/opt/ros/noetic/lib/python3/dist-packages/roslib/launcher.py", line 42, in <module> import rospkg ModuleNotFoundError: No module named 'rospkg' Traceback (most recent call last): File "/opt/ros/noetic/lib/joint_state_publisher/joint_state_publisher", line 35, in <module> import rospy File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 49, in <module> from .client import spin, myargv, init_node, \ File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 52, in <module> import roslib File "/opt/ros/noetic/lib/python3/dist-packages/roslib/__init__.py", line 50, in <module> from roslib.launcher import load_manifest # noqa: F401 File "/opt/ros/noetic/lib/python3/dist-packages/roslib/launcher.py", line 42, in <module> import rospkg ModuleNotFoundError: No module named 'rospkg' [urdf_spawner-3] process has died [pid 3476, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -urdf -model robot -param robot_description -z 0.05 gazebo/scan:=/scan __name:=urdf_spawner __log:=/home/zl/.ros/log/a85ae268-5ca4-11f0-b935-318c9b5216ae/urdf_spawner-3.log]. log file: /home/zl/.ros/log/a85ae268-5ca4-11f0-b935-318c9b5216ae/urdf_spawner-3*.log [joint_state_publisher-4] process has died [pid 3479, exit code 1, cmd /opt/ros/noetic/lib/joint_state_publisher/joint_state_publisher gazebo/scan:=/scan __name:=joint_state_publisher __log:=/home/zl/.ros/log/a85ae268-5ca4-11f0-b935-318c9b5216ae/joint_state_publisher-4.log]. log file: /home/zl/.ros/log/a85ae268-5ca4-11f0-b935-318c9b5216ae/joint_state_publisher-4*.log [gazebo-1] process has died [pid 3468, exit code 255, cmd /opt/ros/noetic/lib/gazebo_ros/gzserver -e ode /home/zl/catkin_ws/src/gazebo_pkg/world/race_with_board.world gazebo/scan:=/scan __name:=gazebo __log:=/home/zl/.ros/log/a85ae268-5ca4-11f0-b935-318c9b5216ae/gazebo-1.log]. log file: /home/zl/.ros/log/a85ae268-5ca4-11f0-b935-318c9b5216ae/gazebo-1*.log [INFO] [1752052283.751006243]: Finished loading Gazebo ROS API Plugin. [INFO] [1752052283.751633811]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... Couldn't find a preferred IP via the getifaddrs() call; I'm assuming that your IP address is 127.0.0.1. This should work for local processes, but will almost certainly not work if you have remote processes.Report to the disc-zmq development team to seek a fix. Couldn't find a preferred IP via the getifaddrs() call; I'm assuming that your IP address is 127.0.0.1. This should work for local processes, but will almost certainly not work if you have remote processes.Report to the disc-zmq development team to seek a fix. Couldn't find a preferred IP via the getifaddrs() call; I'm assuming that your IP address is 127.0.0.1. This should work for local processes, but will almost certainly not work if you have remote processes.Report to the disc-zmq development team to seek a fix. Couldn't find a preferred IP via the getifaddrs() call; I'm assuming that your IP address is 127.0.0.1. This should work for local processes, but will almost certainly not work if you have remote processes.Report to the disc-zmq development team to seek a fix. libcurl: (6) Could not resolve host: fuel.ignitionrobotics.org libcurl: (6) Could not resolve host: fuel.gazebosim.org
最新发布
07-11
错误信息显示在启动过程中，两个节点（urdf_spawner和joint_state_publisher）因相同的错误而失败：`ModuleNotFoundError: No module named 'rospkg'`。同时，gazebo节点也退出了。 ### 问题分析： 1. **错误原因**...
(rosenv) whyros@ubuntu:~/爱死机战队-汪辉耀-何海-朱睿程/ros_ws$ roslaunch mini2_description gazebo_room.launch ... logging to /home/whyros/.ros/log/4051dbf6-56a8-11f0-8dcd-81cf0e965cb7/roslaunch-ubuntu-348341.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://ubuntu:37833/ SUMMARY ======== PARAMETERS * /gazebo/enable_ros_network: True * /joint_state_publisher/source_list: ['/joint_states1'] * /mini2/mini2/11_Joint_controller/gravity_compensation: True * /mini2/mini2/11_Joint_controller/joint: 11_Joint * /mini2/mini2/11_Joint_controller/pid/d: 50.0 * /mini2/mini2/11_Joint_controller/pid/i: 0.1 * /mini2/mini2/11_Joint_controller/pid/p: 1000.0 * /mini2/mini2/11_Joint_controller/type: position_controll... * /mini2/mini2/11_Joint_controller/update_rate: 1000 * /mini2/mini2/12_Joint_controller/gravity_compensation: True * /mini2/mini2/12_Joint_controller/joint: 12_Joint * /mini2/mini2/12_Joint_controller/pid/d: 40.0 * /mini2/mini2/12_Joint_controller/pid/i: 0.1 * /mini2/mini2/12_Joint_controller/pid/p: 800.0 * /mini2/mini2/12_Joint_controller/type: position_controll... * /mini2/mini2/12_Joint_controller/update_rate: 1000 * /mini2/mini2/13_Joint_controller/gravity_compensation: True * /mini2/mini2/13_Joint_controller/joint: 13_Joint * /mini2/mini2/13_Joint_controller/pid/d: 60.0 * /mini2/mini2/13_Joint_controller/pid/i: 0.1 * /mini2/mini2/13_Joint_controller/pid/p: 1200.0 * /mini2/mini2/13_Joint_controller/type: position_controll... * /mini2/mini2/13_Joint_controller/update_rate: 1000 * /mini2/mini2/21_Joint_controller/gravity_compensation: True * /mini2/mini2/21_Joint_controller/joint: 21_Joint * /mini2/mini2/21_Joint_controller/pid/d: 20.0 * /mini2/mini2/21_Joint_controller/pid/i: 0.1 * /mini2/mini2/21_Joint_controller/pid/p: 400.0 * /mini2/mini2/21_Joint_controller/type: position_controll... * /mini2/mini2/21_Joint_controller/update_rate: 1000 * /mini2/mini2/22_Joint_controller/gravity_compensation: True * /mini2/mini2/22_Joint_controller/joint: 22_Joint * /mini2/mini2/22_Joint_controller/pid/d: 20.0 * /mini2/mini2/22_Joint_controller/pid/i: 0.1 * /mini2/mini2/22_Joint_controller/pid/p: 400.0 * /mini2/mini2/22_Joint_controller/type: position_controll... * /mini2/mini2/22_Joint_controller/update_rate: 1000 * /mini2/mini2/23_Joint_controller/gravity_compensation: True * /mini2/mini2/23_Joint_controller/joint: 23_Joint * /mini2/mini2/23_Joint_controller/pid/d: 20.0 * /mini2/mini2/23_Joint_controller/pid/i: 0.1 * /mini2/mini2/23_Joint_controller/pid/p: 400.0 * /mini2/mini2/23_Joint_controller/type: position_controll... * /mini2/mini2/23_Joint_controller/update_rate: 1000 * /mini2/mini2/31_Joint_controller/gravity_compensation: True * /mini2/mini2/31_Joint_controller/joint: 31_Joint * /mini2/mini2/31_Joint_controller/pid/d: 20.0 * /mini2/mini2/31_Joint_controller/pid/i: 0.5 * /mini2/mini2/31_Joint_controller/pid/p: 400.0 * /mini2/mini2/31_Joint_controller/type: position_controll... * /mini2/mini2/31_Joint_controller/update_rate: 1000 * /mini2/mini2/32_Joint_controller/gravity_compensation: True * /mini2/mini2/32_Joint_controller/joint: 32_Joint * /mini2/mini2/32_Joint_controller/pid/d: 20.0 * /mini2/mini2/32_Joint_controller/pid/i: 0.1 * /mini2/mini2/32_Joint_controller/pid/p: 400.0 * /mini2/mini2/32_Joint_controller/type: position_controll... * /mini2/mini2/32_Joint_controller/update_rate: 1000 * /mini2/mini2/33_Joint_controller/gravity_compensation: True * /mini2/mini2/33_Joint_controller/joint: 33_Joint * /mini2/mini2/33_Joint_controller/pid/d: 20.0 * /mini2/mini2/33_Joint_controller/pid/i: 0.1 * /mini2/mini2/33_Joint_controller/pid/p: 400.0 * /mini2/mini2/33_Joint_controller/type: position_controll... * /mini2/mini2/33_Joint_controller/update_rate: 1000 * /mini2/mini2/41_Joint_controller/gravity_compensation: True * /mini2/mini2/41_Joint_controller/joint: 41_Joint * /mini2/mini2/41_Joint_controller/pid/d: 20.0 * /mini2/mini2/41_Joint_controller/pid/i: 0.5 * /mini2/mini2/41_Joint_controller/pid/p: 400.0 * /mini2/mini2/41_Joint_controller/type: position_controll... * /mini2/mini2/41_Joint_controller/update_rate: 1000 * /mini2/mini2/42_Joint_controller/gravity_compensation: True * /mini2/mini2/42_Joint_controller/joint: 42_Joint * /mini2/mini2/42_Joint_controller/pid/d: 20.0 * /mini2/mini2/42_Joint_controller/pid/i: 0.5 * /mini2/mini2/42_Joint_controller/pid/p: 400.0 * /mini2/mini2/42_Joint_controller/type: position_controll... * /mini2/mini2/42_Joint_controller/update_rate: 1000 * /mini2/mini2/43_Joint_controller/gravity_compensation: True * /mini2/mini2/43_Joint_controller/joint: 43_Joint * /mini2/mini2/43_Joint_controller/pid/d: 20.0 * /mini2/mini2/43_Joint_controller/pid/i: 0.5 * /mini2/mini2/43_Joint_controller/pid/p: 400.0 * /mini2/mini2/43_Joint_controller/type: position_controll... * /mini2/mini2/43_Joint_controller/update_rate: 1000 * /mini2/mini2/500_Joint_controller/gravity_compensation: True * /mini2/mini2/500_Joint_controller/joint: 500_Joint * /mini2/mini2/500_Joint_controller/pid/d: 20.0 * /mini2/mini2/500_Joint_controller/pid/i: 0.5 * /mini2/mini2/500_Joint_controller/pid/p: 400.0 * /mini2/mini2/500_Joint_controller/type: position_controll... * /mini2/mini2/500_Joint_controller/update_rate: 1000 * /mini2/mini2/50_Joint_controller/gravity_compensation: True * /mini2/mini2/50_Joint_controller/joint: 50_Joint * /mini2/mini2/50_Joint_controller/pid/d: 20.0 * /mini2/mini2/50_Joint_controller/pid/i: 0.5 * /mini2/mini2/50_Joint_controller/pid/p: 400.0 * /mini2/mini2/50_Joint_controller/type: position_controll... * /mini2/mini2/50_Joint_controller/update_rate: 1000 * /mini2/mini2/51_Joint_controller/gravity_compensation: True * /mini2/mini2/51_Joint_controller/joint: 51_Joint * /mini2/mini2/51_Joint_controller/pid/d: 20.0 * /mini2/mini2/51_Joint_controller/pid/i: 0.5 * /mini2/mini2/51_Joint_controller/pid/p: 400.0 * /mini2/mini2/51_Joint_controller/type: position_controll... * /mini2/mini2/51_Joint_controller/update_rate: 1000 * /mini2/mini2/52_Joint_controller/gravity_compensation: True * /mini2/mini2/52_Joint_controller/joint: 52_Joint * /mini2/mini2/52_Joint_controller/pid/d: 30.0 * /mini2/mini2/52_Joint_controller/pid/i: 0.1 * /mini2/mini2/52_Joint_controller/pid/p: 500.0 * /mini2/mini2/52_Joint_controller/type: position_controll... * /mini2/mini2/52_Joint_controller/update_rate: 1000 * /mini2/mini2/53_Joint_controller/gravity_compensation: True * /mini2/mini2/53_Joint_controller/joint: 53_Joint * /mini2/mini2/53_Joint_controller/pid/d: 20.0 * /mini2/mini2/53_Joint_controller/pid/i: 0.5 * /mini2/mini2/53_Joint_controller/pid/p: 400.0 * /mini2/mini2/53_Joint_controller/type: position_controll... * /mini2/mini2/53_Joint_controller/update_rate: 1000 * /mini2/mini2/joint_state_controller/publish_rate: 50 * /mini2/mini2/joint_state_controller/type: joint_state_contr... * /robot_description: <?xml version="1.... * /rosdistro: noetic * /rosversion: 1.17.3 * /use_sim_time: True NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_control (mini2_description/joint_control.py) joint_state_publisher (joint_state_publisher/joint_state_publisher) robot_state_publisher (robot_state_publisher/robot_state_publisher) /mini2/ controller_spawner (controller_manager/spawner) spawn_urdf (gazebo_ros/spawn_model) auto-starting new master process[master]: started with pid [348349] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 4051dbf6-56a8-11f0-8dcd-81cf0e965cb7 process[rosout-1]: started with pid [348359] started core service [/rosout] process[gazebo-2]: started with pid [348367] process[gazebo_gui-3]: started with pid [348370] process[mini2/spawn_urdf-4]: started with pid [348375] process[mini2/controller_spawner-5]: started with pid [348378] process[robot_state_publisher-6]: started with pid [348379] process[joint_state_publisher-7]: started with pid [348380] process[joint_control-8]: started with pid [348385] [WARN] [1751394109.302342, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect. [INFO] [1751394109.303728, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1751394109.332422, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1751394109.521168280]: Finished loading Gazebo ROS API Plugin. [INFO] [1751394109.523086673]: Finished loading Gazebo ROS API Plugin. [INFO] [1751394109.523249881]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [INFO] [1751394109.524751521]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... Traceback (most recent call last): File "/opt/ros/noetic/lib/gazebo_ros/spawn_model", line 239, in <module> exit_code = sm.run() File "/opt/ros/noetic/lib/gazebo_ros/spawn_model", line 132, in run model_xml = rospy.get_param(self.args.param) File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 468, in get_param return _param_server[param_name] #MasterProxy does all the magic for us File "/opt/ros/noetic/lib/python3/dist-packages/rospy/msproxy.py", line 123, in __getitem__ raise KeyError(key) KeyError: 'robot_description' [INFO] [1751394110.040706553]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1751394110.089876775, 0.001000000]: Physics dynamic reconfigure ready. [mini2/spawn_urdf-4] process has died [pid 348375, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -urdf -model mini2_description -param robot_description -x 0.0244236973111199 -y -0.00001185 -z 0.00216909321295 -R 0 -P 0 -Y 0 -unpause __name:=spawn_urdf __log:=/home/whyros/.ros/log/4051dbf6-56a8-11f0-8dcd-81cf0e965cb7/mini2-spawn_urdf-4.log]. log file: /home/whyros/.ros/log/4051dbf6-56a8-11f0-8dcd-81cf0e965cb7/mini2-spawn_urdf-4*.log context mismatch in svga_surface_destroy context mismatch in svga_surface_destroy [WARN] [1751394139.451305, 2.934000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [mini2/controller_spawner-5] process has finished cleanly log file: /home/whyros/.ros/log/4051dbf6-56a8-11f0-8dcd-81cf0e965cb7/mini2-controller_spawner-5*.log ^C[joint_control-8] killing on exit [joint_state_publisher-7] killing on exit [robot_state_publisher-6] killing on exit [gazebo_gui-3] killing on exit [gazebo-2] killing on exit ^C[gazebo_gui-3] escalating to SIGTERM [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done (rosenv) whyros@ubuntu:~/爱死机战队-汪辉耀-何海-朱睿程/ros_ws$ roslaunch mini2_description gazebo_room.launch ... logging to /home/whyros/.ros/log/3fc93650-56aa-11f0-8dcd-81cf0e965cb7/roslaunch-ubuntu-361713.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://ubuntu:36143/ SUMMARY ======== PARAMETERS * /gazebo/enable_ros_network: True * /joint_state_publisher/source_list: ['/joint_states1'] * /mini2/arm_controller/constraints/goal_time: 0.6 * /mini2/arm_controller/constraints/joints/11_Joint/goal: True * /mini2/arm_controller/constraints/joints/11_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/12_Joint/goal: True * /mini2/arm_controller/constraints/joints/12_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/13_Joint/goal: True * /mini2/arm_controller/constraints/joints/13_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/21_Joint/goal: True * /mini2/arm_controller/constraints/joints/21_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/22_Joint/goal: True * /mini2/arm_controller/constraints/joints/22_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/23_Joint/goal: True * /mini2/arm_controller/constraints/joints/23_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/31_Joint/goal: True * /mini2/arm_controller/constraints/joints/31_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/32_Joint/goal: True * /mini2/arm_controller/constraints/joints/32_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/33_Joint/goal: True * /mini2/arm_controller/constraints/joints/33_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/41_Joint/goal: True * /mini2/arm_controller/constraints/joints/41_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/42_Joint/goal: True * /mini2/arm_controller/constraints/joints/42_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/43_Joint/goal: True * /mini2/arm_controller/constraints/joints/43_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/500_Joint/goal: True * /mini2/arm_controller/constraints/joints/500_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/50_Joint/goal: True * /mini2/arm_controller/constraints/joints/50_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/51_Joint/goal: True * /mini2/arm_controller/constraints/joints/51_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/52_Joint/goal: True * /mini2/arm_controller/constraints/joints/52_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/53_Joint/goal: True * /mini2/arm_controller/constraints/joints/53_Joint/trajectory: True * /mini2/arm_controller/constraints/stopping_trajectory_duration: 0.5 * /mini2/arm_controller/joints: ['11_Joint', '12_... * /mini2/arm_controller/pid_gains/11_Joint/d: 50.0 * /mini2/arm_controller/pid_gains/11_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/11_Joint/p: 1000.0 * /mini2/arm_controller/pid_gains/12_Joint/d: 40.0 * /mini2/arm_controller/pid_gains/12_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/12_Joint/p: 800.0 * /mini2/arm_controller/pid_gains/13_Joint/d: 60.0 * /mini2/arm_controller/pid_gains/13_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/13_Joint/p: 1200.0 * /mini2/arm_controller/pid_gains/21_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/21_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/21_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/22_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/22_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/22_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/23_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/23_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/23_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/31_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/31_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/31_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/32_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/32_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/32_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/33_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/33_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/33_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/41_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/41_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/41_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/42_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/42_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/42_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/43_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/43_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/43_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/500_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/500_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/500_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/50_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/50_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/50_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/51_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/51_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/51_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/52_Joint/d: 30.0 * /mini2/arm_controller/pid_gains/52_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/52_Joint/p: 500.0 * /mini2/arm_controller/pid_gains/53_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/53_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/53_Joint/p: 400.0 * /mini2/arm_controller/type: effort_controller... * /mini2/joint_state_controller/publish_rate: 50 * /mini2/joint_state_controller/type: joint_state_contr... * /robot_description: <?xml version="1.... * /rosdistro: noetic * /rosversion: 1.17.3 * /use_sim_time: True NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_control (mini2_description/joint_control.py) joint_state_publisher (joint_state_publisher/joint_state_publisher) robot_state_publisher (robot_state_publisher/robot_state_publisher) /mini2/ controller_spawner (controller_manager/spawner) spawn_urdf (gazebo_ros/spawn_model) auto-starting new master process[master]: started with pid [361721] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 3fc93650-56aa-11f0-8dcd-81cf0e965cb7 process[rosout-1]: started with pid [361732] started core service [/rosout] process[gazebo-2]: started with pid [361742] process[gazebo_gui-3]: started with pid [361745] process[mini2/spawn_urdf-4]: started with pid [361750] process[mini2/controller_spawner-5]: started with pid [361753] process[robot_state_publisher-6]: started with pid [361754] process[joint_state_publisher-7]: started with pid [361755] process[joint_control-8]: started with pid [361760] [WARN] [1751394967.320296, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect. [INFO] [1751394967.322947, 0.000000]: Controller Spawner: Waiting for service /mini2/controller_manager/load_controller [INFO] [1751394967.360534, 0.000000]: Loading model XML from ros parameter /robot_description [INFO] [1751394967.367955, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1751394967.591428043]: Finished loading Gazebo ROS API Plugin. [INFO] [1751394967.592695892]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [INFO] [1751394967.712372708]: Finished loading Gazebo ROS API Plugin. [INFO] [1751394967.714188401]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [INFO] [1751394968.111488158]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1751394968.144013226, 0.003000000]: Physics dynamic reconfigure ready. [INFO] [1751394968.274723, 0.016000]: Calling service /gazebo/spawn_urdf_model [INFO] [1751394968.639988, 0.036000]: Spawn status: SpawnModel: Successfully spawned entity [INFO] [1751394968.641505, 0.036000]: Unpausing physics [mini2/spawn_urdf-4] process has finished cleanly log file: /home/whyros/.ros/log/3fc93650-56aa-11f0-8dcd-81cf0e965cb7/mini2-spawn_urdf-4*.log [INFO] [1751394972.082549432, 0.036000000]: Loading gazebo_ros_control plugin [INFO] [1751394972.082927631, 0.036000000]: Starting gazebo_ros_control plugin in namespace: /mini2 [INFO] [1751394972.083688984, 0.036000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [INFO] [1751394972.197588955, 0.036000000]: Loaded gazebo_ros_control. [INFO] [1751394972.419081, 0.058000]: Controller Spawner: Waiting for service /mini2/controller_manager/switch_controller [INFO] [1751394972.422287, 0.058000]: Controller Spawner: Waiting for service /mini2/controller_manager/unload_controller [INFO] [1751394972.424556, 0.059000]: Loading controller: joint_state_controller [INFO] [1751394972.443607, 0.061000]: Loading controller: arm_controller [ERROR] [1751394972.448703925, 0.061000000]: Could not load controller 'arm_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist. [ERROR] [1751394972.448778446, 0.061000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types context mismatch in svga_surface_destroy context mismatch in svga_surface_destroy [ERROR] [1751394973.449190, 0.161000]: Failed to load arm_controller [INFO] [1751394973.450581, 0.161000]: Controller Spawner: Loaded controllers: joint_state_controller [INFO] [1751394973.456978, 0.162000]: Started controllers: joint_state_controller
07-03
我们正在解决ROS Gazebo仿真启动时出现的两个相关错误：1."Controller Spawnercouldn'tfind theexpected controller_manager ROSinterface"2."Couldnot loadarm_controller becausecontroller typedoes notexist...
ros2出现“package joint_state_publisher not found“
weixin_45736929的博客
12-19 594
其中foxy是使用的。
圆柱urdf：Could not find the GUI, install the ‘joint_state_publisher_gui’ package.RVIZ成功启动不显示圆柱模型
qq_39694792的博客
09-09 1055
仿真的时候出现的，目的是出现圆柱的仿真模型，根据提示：Could not find the GUI, install the ‘joint_state_publisher_gui’ package. 解决办法： 1.首先看ros安装的版本， melodic的话就是如下命令： $ sudo apt-get install ros-melodic-joint-state-publisher-gui kinetic的话就是如下命令： $ sudo apt-get install ros-kinetic-join
ROS操作系统报错“could not find the GuI,install the‘ joint_state_publisher__gui‘ package”
qq_55079972的博客
08-16 1057
该文章下所使用的是Ubuntu16.04，ros kinetic版本 问题描述：系统报错显示找不到gui的包 解决方案：下载该包 $ sudo apt install ros-kinetic-joint-state* 并修改display_mobot_base_urdf.launch文件里面的“joint_state_publisher”改成“joint_state_publisher_gui”，修改，保存。然后重新打开rviz平台。 提示：注意检查ros版本是否为kinetic，如果是melo
运行没报错，但是joint_state_publisher控制插件不显示
weixin_46973942的博客
12-04 1609
运行没报错，但是joint_state_publisher控制插件不显示，无法控制机械臂
记录下joint_state_publisher_gui无gui输出且节点无法运行解决过程
y2b1eft的博客
11-20 1074
在ros安装时最好先装ros，再装anaconda由于问题比较特殊，搜了全网只在github上找到一个相同情况而且还没解答，因此记录下这次解决的过程。
ROS报错：joint-state-publisher报错
wzfafabga的博客
09-30 2525
ROS报错：joint-state-publisher报错
ROS无法下载ros-kinetic-joint-state-publisher-gui方法
m0_46442326的博客
11-12 922
ROS无法下载ros-kinetic-joint-state-publisher-gui方法
ROS2古月老师课程urdf运行报错问题
kaikai57的博客
01-07 1538
ros2 launch learning_urdf display.launch.py 报错问题
Could not find the required component 'robot_state_publisher
03-27
<think>好的，我现在需要解决用户提到的ROS中缺少`robot_state_publisher`组件的问题。首先，我得回想一下`robot_state_publisher`的作用。这个包主要用于发布机器人的关节状态和TF变换，是ROS中非常重要的一个节点，特别是在可视化或导航时。如果用户遇到缺失的问题，通常是因为没有安装相应的软件包。 接下来，用户可能是在运行launch文件时遇到了错误，比如无法找到`robot_state_publisher`节点。我应该先考虑常见的解决方法。首先检查是否安装了相关的ROS包。在ROS Noetic中，这个包通常包含在`robot_state_publisher`这个包中。所以需要确认用户是否已经安装了这个包。如果未安装，使用apt命令安装是最直接的办法。 然后，用户的环境问题也需要考虑。比如，是否在正确的ROS发行版下工作，或者是否在正确的工作空间中进行了编译。有时候用户可能在自己的工作空间中尝试安装，但实际应该通过系统包管理来安装。此外，安装后需要重新编译工作空间，并确保环境变量已经更新，比如执行了`source devel/setup.bash`之类的命令。 另外，用户提到引用了`ros_robotics`的launch文件，可能存在依赖关系的问题。有时候某些第三方包会依赖`robot_state_publisher`，但用户可能没有安装完整的依赖。这时候建议使用`rosdep`来检查和安装缺失的依赖项。 如果安装后问题依旧存在，可能需要检查launch文件中的配置是否正确，是否有拼写错误或者路径问题。例如，`model`参数是否正确指向了URDF文件，URDF文件是否存在且没有语法错误。此外，用户是否有权限访问相关文件，或者是否正确设置了ROS_PACKAGE_PATH等环境变量。 最后，如果所有步骤都无效，建议用户提供更多的错误信息，比如终端输出的具体内容，以便进一步诊断问题。可能还需要查阅ROS的官方文档或社区论坛，寻找类似问题的解决方案。确保用户按照步骤逐一排查，从安装到配置再到环境设置，逐步缩小问题范围。</think>关于ROS中`robot_state_publisher`缺失问题的解决方案如下： ### 1. 安装缺失的软件包 `robot_state_publisher`是`ros-noetic-robot-state-publisher`（Noetic版本）或`ros-<distro>-robot-state-publisher`（其他ROS发行版）的一部分。通过以下命令安装： ```bash sudo apt-get install ros-${ROS_DISTRO}-robot-state-publisher # 例如Noetic版本： sudo apt-get install ros-noetic-robot-state-publisher ``` ### 2. 验证环境配置 - 确保已正确初始化ROS环境： ```bash source /opt/ros/${ROS_DISTRO}/setup.bash ``` - 若使用自定义工作空间，需重新编译并激活： ```bash cd ~/catkin_ws && catkin_make source devel/setup.bash ``` ### 3. 检查launch文件依赖 在您的`ddrobot_rviz.launch`中，需包含对`robot_state_publisher`节点的调用。示例配置： ```xml <launch> <param name="robot_description" command="$(find xacro)/xacro '$(find ros_robotics)/urdf/dd_robot.urdf.xacro'" /> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> </launch> ``` ### 4. 解决依赖关系 若使用第三方库（如`ros_robotics`），建议运行依赖检查： ```bash rosdep install --from-paths src --ignore-src -y ``` ### 5. 典型错误场景排查 若出现`[robot_state_publisher] could not find model.xml`错误，需检查： - URDF文件路径是否正确（示例中`model:=dd_robot.urdf`参数是否有效） - URDF文件是否包含完整的机器人关节定义 ### 6. 调试建议 运行节点时添加`--debug`参数查看详细输出： ```bash rosrun robot_state_publisher robot_state_publisher --debug ``` ### 引用说明 关于ROS 2的基础知识，可参考入门教程[^2]，其中包含环境配置和节点管理的基础操作。您在运行`roslaunch`命令时指定的URDF模型参数[^1]需要与文件实际路径一致。
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