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1:
[ WARN] [1640073545.549872180, 0.028000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'gripper_finger1_joint'.
答案：在robotiq_85_gripper.transmission.xacro里面提示的PositionJointInterface地方改成hardware_interface/PositionJointInterface.


2:
ResourceNotFound: rgbd_launch
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/xiaofei/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share
答案：sudo apt install ros-kinetic-rgbd-launch

3.[spawn_gazebo_model-4] process has died [pid 6349, exit code 1, cmd /opt/ros/kinetic/lib/gazebo_ros/spawn_model -urdf -param robot_description -model robot -z 0.1 __name:=spawn_gazebo_model __log:=/home/xiaofei/.ros/log/c2f60db0-6314-11ec-802a-a088697ea793/spawn_gazebo_model-4.log].
答案：

sudo nautilus

4.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.
答案：用joint_state_publisher_gui替换原本的joint_state_publisher，然后删除launch中对use_gui的设置。

5.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/xacro#Processing_Order
答案：在读取xacro文件时，需要添加–inorder,如<param name="robot_description" command="$(find xacro)/xacro $(find robotiq_2f_85_gripper_visualization)/urdf/robotiq_arg2f_85_model.xacro --inorder" />  

6.Unable to register with master node [http://localhost:11311/]: master may not be running yet. Will keep trying.
答案：先运行roscore

7.ubuntu'ascii' codec can't decode byte 0xe6 in position 15: ordinal not in range(128).
答案：路径改成英文

8.[ERROR] [1606720828.108327956，173.719000000]: Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 joint3 joint4 joLnt5 joint6 ]

本文标签： 建模 仅供参考 环境 ROS Gazebo

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