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請幫等待模型URDF。錯誤：gazebo_ros_control插件參數
很少倍涼亭所加載的模型打開，近99次失敗與下面的錯誤。
在所有論壇搜索了一天之後，我嘗試了以下內容，到目前爲止沒有運氣:(1）runnning verbose：= true 2）運行rosrun gzclient，然後啓動文件3）確保框大小不爲零4 ）傳輸類型正確提到的插件安裝，並在模型文件中提到6）插件安裝涼亭ROS控制（請注意，我是能夠運行之前相同的啓動，突然這個錯誤快到了五）涼亭ROS控制）7）檢查namesapce
錯誤跟蹤：
[email protected]:~/Documents/balaji/unl/Media/Downloads/robot_ws_final$ source devel/setup.bash
[email protected]:~/Documents/balaji/unl/Media/Downloads/robot_ws_final$ roslaunch robot_gazebo robot_world.launch
... logging to /home/balaji/.ros/log/e78e4fbc-7f83-11e7-9f51-9801a7b07983/roslaunch-balaji-31825.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/balaji/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
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
started roslaunch server http://balaji:45487/
SUMMARY
========
PARAMETERS
* /first_pelican/image_processing_node/namesapce_deploy: first_pelican
* /first_pelican/joint1_position_controller/joint: palm_riser
* /first_pelican/joint1_position_controller/pid/d: 10.0
* /first_pelican/joint1_position_controller/pid/i: 0.01
* /first_pelican/joint1_position_controller/pid/p: 100.0
* /first_pelican/joint1_position_controller/type: effort_controller...
* /first_pelican/joint_state_controller/publish_rate: 100
* /first_pelican/joint_state_controller/type: joint_state_contr...
* /first_pelican/robot_description: <?xml version="1....
* /first_pelican/smart_exploration/dist_x: 0
* /first_pelican/smart_exploration/dist_y: 0
* /first_pelican/smart_exploration/namesapce_deploy: first_pelican
* /rosdistro: kinetic
* /rosversion: 1.12.7
* /use_sim_time: True
NODES
/first_pelican/
controller_spawner (controller_manager/spawner)
image_processing_node (image_processing/image_processing_node)
mybot_spawn (gazebo_ros/spawn_model)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
smart_exploration (robot_exploration/smart_exploration)
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
auto-starting new master
process[master]: started with pid [31839]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to e78e4fbc-7f83-11e7-9f51-9801a7b07983
process[rosout-1]: started with pid [31852]
started core service [/rosout]
process[gazebo-2]: started with pid [31864]
process[gazebo_gui-3]: started with pid [31879]
process[first_pelican/mybot_spawn-4]: started with pid [31886]
process[first_pelican/controller_spawner-5]: started with pid [31887]
process[first_pelican/robot_state_publisher-6]: started with pid [31888]
process[first_pelican/image_processing_node-7]: started with pid [31889]
process[first_pelican/smart_exploration-8]: started with pid [31890]
[ WARN] [1502559016.978709697]: The root link chassis 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.
[ INFO] [1502559016.986332012]: Got param: 0.000000
[ INFO] [1502559016.995995700]: Got param: 0.000000
[ INFO] [1502559016.999604731]: Got param: first_pelican
[ INFO] [1502559017.008884277]: In image_converter, got param: first_pelican
SpawnModel script started
[INFO] [1502559017.185603, 0.000000]: Loading model XML from ros parameter
[INFO] [1502559017.190666, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1502559017.208092409]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1502559017.209366293]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1502559017.386893, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1502559017.566665686, 246.206000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1502559017.611486634, 246.249000000]: Physics dynamic reconfigure ready.
[INFO] [1502559017.795112, 246.428000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1502559018.103326226, 246.494000000]: Camera Plugin: Using the 'robotNamespace' param: '/first_pelican/'
[ INFO] [1502559018.107184854, 246.494000000]: Camera Plugin (ns = /first_pelican/) <tf_prefix_>, set to "/first_pelican"
[ INFO] [1502559018.628739638, 246.494000000]: Laser Plugin: Using the 'robotNamespace' param: '/first_pelican/'
[ INFO] [1502559018.628941833, 246.494000000]: Starting Laser Plugin (ns = /first_pelican/)
[ INFO] [1502559018.630496093, 246.494000000]: Laser Plugin (ns = /first_pelican/) <tf_prefix_>, set to "/first_pelican"
[INFO] [1502559018.650747, 246.494000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1502559018.669444812, 246.494000000]: Loading gazebo_ros_control plugin
[ INFO] [1502559018.669578793, 246.494000000]: Starting gazebo_ros_control plugin in namespace: first_pelican
[ INFO] [1502559018.670483364, 246.494000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.