gazebo仿真时在加⼊差分运动插件后没有cmd_vel话题⼀、问题描述：
gazebo仿真时在加⼊差分运动插件后没有cmd_vel话题
joes@joes:~/jiao/ROS_Project$ roslaunch ros23_urdf02_gazebo demo03_gazebo_env.launch
... logging to /home/joes/.ros/log/6cceca6e-4837-11ec-9542-14f6d8d77445/roslaunch-joes-10392.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
beer是什么意思SUMMARY
========
PARAMETERS
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.17
* /u_sim_time: True
NODES
/
gazebo (gazebo_ros/gzrver)
gazebo_gui (gazebo_ros/gzclient)
spawn_model1 (gazebo_ros/spawn_model)
process[gazebo-1]: started with pid [10416]
process[gazebo_gui-2]: started with pid [10421]
yeepay
process[spawn_model1-3]: started with pid [10426]
[ INFO] [1637235817.256610584]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1637235817.257288041]: waitForService: Service [/gazebo/t_physics_properties] has not been advertid,
[ INFO] [1637235817.258918130]: Finished loading Gazebo ROS API Plugin.
数量关系式[ INFO] [1637235817.261062997]: waitForService: Service [/gazebo/t_physics_properties] has not been advertid,
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/inputmethods/libqimsw-multi.so" keys ("imsw-multi")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/inputmethods/qtim-fcitx.so"
keys ("fcitx")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqgif.so"
keys ("gif")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqico.so"
keys ("ico")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqjpeg.so"
keys ("jpeg", "jpg")
2011年安徽省高考分数线QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqmng.so"
keys ("mng")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqsvg.so"
keys ("svg", "svgz")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtga.so"
keys ("tga")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtiff.so"
keys ("tiff", "tif")
don jonQFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-
gnu/qt4/plugins/accessiblebridge/libqspiaccessiblebridge.so"
keys ("QSPIACCESSIBLEBRIDGE")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-
gnu/qt4/plugins/accessible/libqtaccessiblecompatwidgets.so"
keys ("Q3TextEdit", "Q3IconView", "Q3ListView", "Q3WidgetStack", "Q3GroupBox", "Q3ToolBar", "Q
3ToolBarSeparator",
"Q3DockWindowHandle", "Q3DockWindowResizeHandle", "Q3MainWindow", "Q3Header", "Q3ListBox", "Q3Table",
"Q3TitleBar")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/accessible/libqtaccessiblewidgets.so" keys ("QSGItem", "QDeclarativeItem", "QLineEdit", "QComboBox", "QAbstractSpinBox", "QSpinBox", "QDoubleSpinBox", "QScrollBar", "QSlider", "QAbstractSlider", "QToolButton", "QCheckBox", "QRadioButton", "QPushButton", "QAbstractButton", "QDialog", "QMessageBox", "QMainWindow", "QLabel", "QLCDNumber", "QGroupBox", "QStatusBar", "QProgressBar", "QMenuBar", "Q3PopupMenu", "QMenu", "QHeaderView", "QTabBar", "QToolBar", "QWorkspaceChild", "QSizeGrip", "QAbstractItemView", "QWidget", "QSplitter", "QSplitterHandle", "QTextEdit", "QPlainTextEdit", "QTipLabel", "QFrame", "QStackedWidget", "QToolBox", "QMdiArea", "QMdiSubWindow", "QWorkspace", "QDialogButtonBox", "QDial", "QRubberBand", "QTextBrowr", "QAbstractScrollArea", "QScrollArea", "QCalendarWidget", "QDockWidget") QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/iconengines/libqsvgicon.so"
keys ("svg", "svgz", "")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/iconengines/libqsvgicon.so"
keys ()
[ INFO] [1637235817.590847017]: waitForService: Service [/gazebo/t_physics_properties] is now available.
[ INFO] [1637235817.592469542]: waitForService: Service [/gazebo/t_physics_properties] is now available.
[ INFO] [1637235817.638523309, 257.499000000]: Physics dynamic reconfigure ready.
[ INFO] [1637235817.638917878]: Physics dynamic reconfigure ready.
[ INFO] [1637235818.010408784, 257.801000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1637235818.010504396, 257.801000000]: DiffDrive(ns = //): <rosDebugLevel> = Debug
[ INFO] [1637235818.011427144, 257.801000000]: DiffDrive(ns = //): <tf_prefix> =
课外辅导机构英语[DEBUG] [1637235818.011538036, 257.801000000]: DiffDrive(ns = //): <commandTopic> = cmd_vel
平面设计理念
[DEBUG] [1637235818.011553415, 257.801000000]: DiffDrive(ns = //): <odometryTopic> = odom
[DEBUG] [1637235818.011565311, 257.801000000]: DiffDrive(ns = //): <odometryFrame> = odom
[DEBUG] [1637235818.011592937, 257.801000000]: DiffDrive(ns = //): <robotBaFrame> = ba_footprint [DEBUG] [1637235818.011641657, 257.801000000]: DiffDrive(ns = //): <publishWheelTF> = truecur什么意思
加油的英语怎么说
[DEBUG] [1637235818.011653441, 257.801000000]: DiffDrive(ns = //): <publishOdomTF> = true
[DEBUG] [1637235818.011664179, 257.801000000]: DiffDrive(ns = //): <publishWheelJointState> = true
[DEBUG] [1637235818.011709383, 257.801000000]: DiffDrive(ns = //): <legacyMode> = true
[DEBUG] [1637235818.011758233, 257.801000000]: DiffDrive(ns = //): <wheelSeparation> = 0.2000
0000000000001 [DEBUG] [1637235818.011776872, 257.801000000]: DiffDrive(ns = //): <wheelDiameter> = 0.065000000000000002 [DEBUG] [1637235818.011825064, 257.801000000]: DiffDrive(ns = //): <wheelAcceleration> = 1.8
[DEBUG] [1637235818.011839057, 257.801000000]: DiffDrive(ns = //): <wheelTorque> = 30
[DEBUG] [1637235818.011853035, 257.801000000]: DiffDrive(ns = //): <updateRate> = 100
[ WARN] [1637235818.011902563, 257.801000000]: DiffDrive(ns = //): <odometrySource> no matching key to 1 [DEBUG] [1637235818.011918766, 257.801000000]: DiffDrive(ns = //): <odometrySource> = default := 1
[DEBUG] [1637235818.011945861, 257.801000000]: DiffDrive(ns = //): <leftJoint> = left_wheel_balink
[spawn_model1-3] process has finished cleanly
log file: /home/joes/.ros/log/6cceca6e-4837-11ec-9542-14f6d8d77445/spawn_model1-3*.log
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/menubar/libappmenu-qt.so"
keys ("default")
[gazebo_gui-2] process has finished cleanly
log file: /home/joes/.ros/log/6cceca6e-4837-11ec-9542-14f6d8d77445/gazebo_gui-2*.log
^C[gazebo-1] killing on exit
[gazebo-1] escalating to SIGTERM
shutting down
... shutting down processing monitor complete
done
⼆、解决：
查看后台输出，未见明显报警，最后还是检查move.xacro⽂件，<gazebo></gazebo>标签内，左右驱动轮的名字错误，导致的。⾃⾏查看⾃⼰的⼩车ba中的左右驱动轮的joint name，必须保持⼀致，我就是因为多加了⼀个下划线，导致摸索半天。
leftwheel_balink 错写为 left_wheel_balink
rightwheel_balink 错写为 right_wheel_balink
1.错误的书写：
2.ba底盘⽂件的左右驱动轮关节名称：voyage是什么意思
修正后，重新执⾏：roslaunch ros23_urdf02_gazebo demo03_gazebo_env.launch
查询rostopic list，出现cmd_vel
⼤喜⼤喜~
其他同学遇见此问题，也可以类推，主要查找相关的⼀些⾃命名参数的name是否前后⼀致，否则极易出错。因为随着后续项⽬的复杂加
深，相关的各类引⽤越来越多，所以必须要仔细书写，以免花费太多的⽆效时间进⾏排错！
