我尝试在Gazebo世界上启动我的机器人，我可以看到我的机械臂，但找不到末端执行器，当我尝试点击任何插件时，Gazebo 突然关闭！
人们告诉我添加一个.yml文件。但机器人在RViz平台上工作正常
gazebo_ros_control/pid_gains:
shoulder_pan_joint: {p: 100.0, i: 0.01, d: 10.0}
shoulder_lift_joint: {p: 100.0, i: 0.01, d: 10.0}
elbow_joint: {p: 100.0, i: 0.01, d: 10.0}
wrist_1_joint: {p: 100.0, i: 0.01, d: 10.0}
wrist_2_joint: {p: 100.0, i: 0.01, d: 10.0}
wrist_3_joint: {p: 100.0, i: 0.01, d: 10.0}
我添加了以上内容，
[controller_spawner-4] process has died [pid 18617, exit code 2, cmd /opt/ros/melodic/lib/controller_manager/spawner __name:=controller_spawner __log:=/home/akash/.ros/log/7a4b985a-ea0b-11eb-a6b5-7c67a2e59a25/controller_spawner-4.log].
log file: /home/akash/.ros/log/7a4b985a-ea0b-11eb-a6b5-7c67a2e59a25/controller_spawner-4*.log
[ INFO] [1626867488.573071456]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1626867488.579089609]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1626867488.836513846]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1626867488.890592907, 0.020000000]: Physics dynamic reconfigure ready.
[INFO] [1626867489.039121, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1626867489.056799, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1626867489.064258, 0.186000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1626867489.366671, 0.325000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1626867489.615558431, 0.325000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1626867489.619115323, 0.325000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[spawn_gazebo_model-3] process has finished cleanly
log file: /home/akash/.ros/log/7a4b985a-ea0b-11eb-a6b5-7c67a2e59a25/spawn_gazebo_model-3*.log
[ INFO] [1626867489.736882435, 0.325000000]: Loading gazebo_ros_control plugin
[ INFO] [1626867489.737195933, 0.325000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1626867489.738163986, 0.325000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ WARN] [1626867489.860372812, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'shoulder_1_joint'.
[ERROR] [1626867489.862396772, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_1_joint
[ WARN] [1626867489.862942465, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'shoulder_2_joint'.
[ERROR] [1626867489.867874675, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_2_joint
[ WARN] [1626867489.867934525, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'elbow_1_joint'.
[ERROR] [1626867489.868804177, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/elbow_1_joint
[ WARN] [1626867489.868847889, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_1_joint'.
[ERROR] [1626867489.869519502, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
[ WARN] [1626867489.869559452, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_2_joint'.
[ERROR] [1626867489.870294428, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
[ WARN] [1626867489.870363581, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_3_joint'.
[ERROR] [1626867489.871283295, 0.325000000]: No p gain ...