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

      
        PositionJointInterface
      
      
        PositionJointInterface
      
      
        PositionJointInterface
      
      
        PositionJointInterface
      
      
        PositionJointInterface
      
      
        PositionJointInterface
      

分别改为如下的形式:

     
        hardware_interface/PositionJointInterface
      
      
        hardware_interface/PositionJointInterface
      
      
        hardware_interface/PositionJointInterface
      
      
        hardware_interface/PositionJointInterface
      
      
        hardware_interface/PositionJointInterface
      
      
        hardware_interface/PositionJointInterface
      

最后运行:

roslaunch ur_gazebo ur10.launch

警告消失,问题解决.

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