ubuntu16.04 hector_quadrotor 运行问题

Question

纯新手，请问该怎么解决？（能给个无脑按步骤操作最好 。。。捂脸）

安装参考：
[https://blog.csdn.net/u013468614/article/details/81355865?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522158618503419195162514885%2522%252C%2522scm%2522%253A%252220140713.130056874..%2522%257D&request_id=158618503419195162514885&biz_id=0&utm_source=distribute.pc_search_result.none-task-blog-blog_SOOPENSEARCH-4
]

在工作空间目录下打开终端输入roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch后

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.org/xacro#Processing_Order
redefining global property: pi
when processing file: /home/li/he

有以下问题

报错1：
[ WARN] [1586183286.622194798]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.

报错2：
ERROR: cannot launch node of type [joy/joy_node]: joy
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/li/hector_ws/src
ROS path [2]=/opt/ros/kinetic/share

报错3：
[WARN] [1586183287.226996, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect.


报错4：
[ WARN] [1586183292.097134320, 0.001000000]: Desired controller update period (0.010000000 s) is slower than the gazebo simulation period (0.001000000 s).

报错5：
WARN] [1586183293.506374, 0.103000]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 111] Connection refused
这个后面是
[gazebo-2] process has died [pid 24819, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver /home/li/hector_ws/src/src/hector_gazebo/hector_gazebo_worlds/worlds/rolling_landscape_120m.world __name:=gazebo __log:=/home/li/.ros/log/d3e6aee8-7812-11ea-8efb-000c2947e8d3/gazebo-2.log].
log file: /home/li/.ros/log/d3e6aee8-7812-11ea-8efb-000c2947e8d3/gazebo-2*.log
[controller_spawner-6] process has died [pid 24831, exit code 1, cmd /opt/ros/kinetic/lib/controller_manager/spawner controller/attitude controller/velocity controller/position --shutdown-timeout 3 pose:=ground_truth_to_tf/pose __name:=controller_spawner __log:=/home/li/.ros/log/d3e6aee8-7812-11ea-8efb-000c2947e8d3/controller_spawner-6.log].
log file: /home/li/.ros/log/d3e6aee8-7812-11ea-8efb-000c2947e8d3/controller_spawner-6*.log


打开另一个终端输入rosservice call /enable_motors "enable: true"
后出现ERROR: Unable to communicate with service [/enable_motors], address [rosrpc://li-virtual-machine:46991]

_

Answer 1

你好，你的这些问题都解决了吗？我遇到了和你一样的问题。