ros仿真模型搭建 —— sw2urdf生成的初始urdf在rviz中显示问题解决

本文链接：https://blog.csdn.net/reasonyuanrobot/article/details/121971969

urdf生成

相关问题及解决办法，如下：

[ WARN] [1639624090.469249210]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead

- robot_state_publisher中的 state_publisher node废弃，更改为robot_state_publisher；
- - 将display.launch中的：
  <node
    name="robot_state_publisher"
    pkg="robot_state_publisher"
    type="state_publisher" /> 
- - 更改为：
  <node
    name="robot_state_publisher"
    pkg="robot_state_publisher"
    type="robot_state_publisher" /> 

https://blog.csdn.net/qq_15204179/article/details/108800907


[ERROR] [1639624526.000775650]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'?

- 初始生成的 your_robot_description package中没有 your_robot_description/urdf.rviz配置文件
- display.launch中的：
  <node
    name="rviz"
    pkg="rviz"
    type="rviz"
    args="-d $(find your_robot_description)/urdf.rviz" />
在第一次运行时，会自动复制/opt/ros/kinetic/share/rviz中的默认配置；

- 退出rviz可视化窗口并保存，打开 your_robot_description/urdf.rviz文件。
- 将 Class: moveit_rviz_plugin/RobotState改为：Class: rviz/RobotModel并保存即可。

http://www.javashuo.com/article/p-wgcavvro-qw.html


[WARN] [1639625114.818193]: 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.

- 先安装joint_state_publisher_gui
sudo apt-get install ros-kinetic-joint-state-publisher-gui

- 把display.launch文件中的joint_state_publisher pkg和node换成对应的joint_state_publisher_gui,  并注释掉use_gui param ；

https://blog.csdn.net/weixin_45168199/article/details/105915769


[ WARN] [1639625114.271017609]: 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.


- 若root link 不是dummy link，则KDL计算动力学时，也会将该root link包括在内，整体会晃动、未固定！
- 增加一虚拟连杆即可，参照如下：

<link name="dummy_link"></link>
<link name="base_link">
    <inertial>
      <origin xyz="0.15 0.15 .2" rpy="0 0 0"/>
      <mass value="10"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
                   <box size="0.01 0.01 0.01"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
      <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
  </link>
  <joint name="dummy_joint" type="fixed">
     <parent link="dummy_link"/>
     <child link="base_link"/>
   </joint>