ROS中使用iiwa时遇到的问题
我的使用环境:
Ubuntu的版本:16.04
ROS的版本:kinetic
[ WARN] [1540436371.326624289, 0.129000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘iiwa_joint_1’.
[ WARN] [1540436371.328444294, 0.129000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘iiwa_joint_2’.
[ WARN] [1540436371.329745112, 0.129000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘iiwa_joint_3’.
[ WARN] [1540436371.330991403, 0.129000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘iiwa_joint_4’.
[ WARN] [1540436371.332175478, 0.129000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘iiwa_joint_5’.
[ WARN] [1540436371.333387608, 0.129000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘iiwa_joint_6’.
[ WARN] [1540436371.334575222, 0.129000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘iiwa_joint_7’.
解决方法:将iiwa.transmission.xacro文件中的下面两行做修改:
{robot_name}_motor_1">
{robot_name}_joint_1">
hardware_interface/PositionJointInterface
hardware_interface/PositionJointInterface
1