这里有一个类似的问题没有得到解答：ROS 中的错误：控制器生成器找不到预期的控制器管理器 ROS 接口
我有一个带有启动文件的 ROS 工作区，上次运行它时运行良好。它启动 Gazebo 模拟器、一些 ROS 节点、一个机器人和 RVIZ。但现在它失败了。它只是锁定并死亡。我没有做任何改变。自从我上次启动它以来已经过去了几个月......
这是错误消息，但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。此设置假定您有一个旧包，其中包含 DefaultRobotHWSim 的旧实现，其中机器人名称空间被忽略，而是使用绝对路径。如果您不想在旧包中解决此问题，只需设置为 true。
它说它默认为 true，但建议将 legacyModeNS 设置为 true。我试过了。我将 legacyModeNS 元素添加到元素中。它似乎没有任何效果。
这是运行启动文件的输出。我不确定如何更具体。
$ 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.