这里有一个类似的问题尚未解决：Error in ROS: Controller Spawner couldn't find the expected controller_manager ROS interface
我有一个带有启动文件的ROS工作区，该文件在我上次运行时运行良好。它启动了Gazebo仿真器，一些ROS节点，一个机器人和RVIZ。但是现在失败了。它只是锁死。我没有做任何改变。自上次启动以来已经过去了几个月。...
这是错误消息，但是我不确定这是否是问题：
[错误] [1559523160.995762178]：使用DefaultRobotHWSim时缺少GazeboRosControlPlugin，默认为true。 此设置假定您使用的旧程序包带有DefaultRobotHWSim的旧实现，在该程序包中将忽略robotNamespace，而是使用绝对路径。 如果您不想在旧软件包中解决此问题，只需将其设置为true。
它说它默认为true，但是建议将legacyModeNS设置为true。我已经尝试过了。我向该元素添加了legacyModeNS元素。它似乎没有任何作用。
这是运行启动文件的输出。我不确定如何具体。
$ roslaunch ackermann_vehicle_gazebo ackermann_vehicle_lidar.launch
... logging to /home/ben/.ros/log/5d94232a-859b-11e9-a629-6057183a88a6/roslaunch-ben-ThinkPad-S5-Yoga-15-18073.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.
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
deprecated: xacro tags should be prepended with 'xacro' xml namespace.
Use the following script to fix incorrect usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'
when processing file: /home/ben/workspaces/ROS/ackermann/src/ackermann_vehicle-1/ackermann_vehicle_description/urdf/ackermann_2.xacro
xacro.py is deprecated; please use xacro instead
started roslaunch server http://ben-ThinkPad-S5-Yoga-15:33017/
SUMMARY
========
PARAMETERS
* /ackermann_controller/cmd_timeout: 0.5
* /ackermann_controller/left_front_wheel/axle_controller_name: left_front_axle_c...
* /ackermann_controller/left_front_wheel/diameter: 0.5842
* /ackermann_controller/left_front_wheel/steering_controller_name: left_steering_ctrlr
* /ackermann_controller/left_front_wheel/steering_link_name: left_front_wheel
* /ackermann_controller/left_rear_wheel/axle_controller_name: left_rear_axle_ctrlr
* /ackermann_controller/left_rear_wheel/diameter: 0.5842
* /ackermann_controller/left_rear_wheel/link_name: left_rear_wheel
* /ackermann_controller/right_front_wheel/axle_controller_name: right_front_axle_...
* /ackermann_controller/right_front_wheel/diameter: 0.5842
* /ackermann_controller/right_front_wheel/steering_controller_name: right_steering_ctrlr
* /ackermann_controller/right_front_wheel/steering_link_name: right_front_wheel
* /ackermann_controller/right_rear_wheel/axle_controller_name: right_rear_axle_c...
* /ackermann_controller/right_rear_wheel/diameter: 0.5842
* /ackermann_controller/right_rear_wheel/link_name: right_rear_wheel
* /ackermann_controller/shock_absorbers: [{'controller_nam...
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /use_sim_time: True
* /vehicle_state_publisher/publish_frequency: 30.0
NODES
/
ackermann_controller (ackermann_vehicle_gazebo/ackermann_controller)
controller_spawner (controller_manager/spawner)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
rviz (rviz/rviz)
spawn_vehicle (gazebo_ros/spawn_model)
twist_to_ackermann (twist_to_ackermann-1/twist_to_ackermann)
vehicle_state_publisher (robot_state_publisher/robot_state_publisher)
viewer (image_view/image_view)
auto-starting new master
process[master]: started with pid [18088]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 5d94232a-859b-11e9-a629-6057183a88a6
process[rosout-1]: started with pid [18101]
started core service [/rosout]
process[vehicle_state_publisher-2]: started with pid [18125]
process[gazebo-3]: started with pid [18126]
process[gazebo_gui-4]: started with pid [18135]
process[spawn_vehicle-5]: started with pid [18146]
process[controller_spawner-6]: started with pid [18156]
process[ackermann_controller-7]: started with pid [18159]
process[twist_to_ackermann-8]: started with pid [18166]
process[viewer-9]: started with pid [18175]
process[rviz-10]: started with pid [18199]
[ INFO] [1559523796.701851613]: Using transport "raw"
[ INFO] [1559523796.818342730]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1559523796.826092041]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1559523796.963544372]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1559523796.965595041]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Warning [parser.cc:778] XML Element[legacyModeNS], child of element[model] not defined in SDF. Ignoring[legacyModeNS]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[ INFO] [1559523798.748210474]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1559523798.752299432]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1559523806.139764458]: Velodyne laser plugin ready, 16 lasers
[ INFO] [1559523806.242987825]: Loading gazebo_ros_control plugin
[ERROR] [1559523806.243725205]: GazeboRosControlPlugin missing <legacyModeNS> while using DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead.
If you do not want to fix this issue in an old package just set <legacyModeNS> to true.
[ INFO] [1559523806.244814434]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1559523806.263409792]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ WARN] [1559523806.384039744]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'left_front_shock'.
[ WARN] [1559523806.386157327]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'left_steering_joint'.
[ WARN] [1559523806.388570962]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'left_front_axle'.
[ WARN] [1559523806.389766077]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'right_front_shock'.
[ WARN] [1559523806.391055119]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'right_steering_joint'.
[ WARN] [1559523806.392667733]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'right_front_axle'.
[ WARN] [1559523806.395172338]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'left_rear_shock'.
[ WARN] [1559523806.397672154]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'left_rear_axle'.
[ WARN] [1559523806.399033501]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'right_rear_shock'.
[ WARN] [1559523806.400216493]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'right_rear_axle'.
[spawn_vehicle-5] process has finished cleanly
log file: /home/ben/.ros/log/5d94232a-859b-11e9-a629-6057183a88a6/spawn_vehicle-5*.log
[ INFO] [1559523806.417305735]: Loaded gazebo_ros_control.