2018-01-05：Gazebo中运行universal robot出现警告的解决办法

操作过程如下：

mkdir -p ~/Desktop/catkin_project/catkin_04/src
cd ~/Desktop/catkin_project/catkin_04/src
git clone https://github.com/ros-industrial/universal_robot.git
cd ..
catkin_make
source devel/setup.bash
roslaunch ur_gazebo ur10.launch

最后启动Gazebo出现如下的警告：

[ WARN] [1515161906.841343613, 0.156000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'shoulder_pan_joint'.
[ WARN] [1515161906.842791658, 0.156000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'shoulder_lift_joint'.
[ WARN] [1515161906.843854506, 0.156000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'elbow_joint'.
[ WARN] [1515161906.844811837, 0.156000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_1_joint'.
[ WARN] [1515161906.845638764, 0.156000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_2_joint'.
[ WARN] [1515161906.846605148, 0.156000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_3_joint'.

我们根据警告的提示，我们找到ur_description/urdf/ur.transmission.xacro文件中的如下标签：

      <joint name="${prefix}shoulder_pan_joint">
        <hardwareInterface>PositionJointInterface</hardwareInterface>
      </joint>
      <joint name="${prefix}shoulder_lift_joint">
        <hardwareInterface>PositionJointInterface</hardwareInterface>
      </joint>
      <joint name="${prefix}elbow_joint">
        <hardwareInterface>PositionJointInterface</hardwareInterface>
      </joint>
      <joint name="${prefix}wrist_1_joint">
        <hardwareInterface>PositionJointInterface</hardwareInterface>
      </joint>
      <joint name="${prefix}wrist_2_joint">
        <hardwareInterface>PositionJointInterface</hardwareInterface>
      </joint>
      <joint name="${prefix}wrist_3_joint">
        <hardwareInterface>PositionJointInterface</hardwareInterface>
      </joint>

分别改为如下的形式：

     <joint name="${prefix}shoulder_pan_joint">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <joint name="${prefix}shoulder_lift_joint">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <joint name="${prefix}elbow_joint">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <joint name="${prefix}wrist_1_joint">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <joint name="${prefix}wrist_2_joint">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <joint name="${prefix}wrist_3_joint">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>

最后运行：

roslaunch ur_gazebo ur10.launch

警告消失，问题解决.

最后编辑于：2018.01.05 23:23:31