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大佬们，我用的是ubantu24.04的ros2 jazzy和gazebo sim8(gazebo harmonic)，我遇到的问题是我的模型可以在gazebo里面加载，但是gazebo和ros2的通讯好像有问题,我不能在gazebo里面控制机械臂运动。
以下是我在终端里找出的报错信息:
[lbk]ros2_control_node-2[rbk] [lbk]ERROR[rbk] [lbk]1777197894.483983972[rbk] [lbk]rcl[rbk]: Failed to parse global arguments
[lbk]ros2_control_node-2[rbk] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[lbk]ros2_control_node-2[rbk] what(): failed to initialize rcl: Couldn't parse params file: '--params-file /home/lhy/robot_ws/install/my_robot_gazebo/share/my_robot_gazebo/config/er4ia_controllers.yaml'. Error: Cannot have a value before ros__parameters at line 7, at ./src/parse.c:800, at ./src/rcl/arguments.c:415
[lbk]ERROR[rbk] [lbk]ros2_control_node-2[rbk]: process has died [lbk]pid 72327, exit code -6, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_3lbjrj0h --params-file /home/lhy/robot_ws/install/my_robot_gazebo/share/my_robot_gazebo/config/er4ia_controllers.yaml'[rbk].
[lbk]gazebo-3[rbk] [lbk]ERROR[rbk] [lbk]1777197898.085067874[rbk] [lbk]GazeboSimROS2ControlPlugin[rbk]: Gazebo ros2 control found an empty parameters file. Failed to initialize.
[lbk]spawner-7[rbk] [lbk]ERROR[rbk] [lbk]1777198016.737378002[rbk] [lbk]ros2_control_controller_spawner_joint_trajectory_controller[rbk]: Failed to acquire lock after multiple attempts.
[lbk]ERROR[rbk] [lbk]spawner-7[rbk]: process has died [lbk]pid 72637, exit code 1, cmd '/opt/ros/jazzy/lib/controller_manager/spawner joint_trajectory_controller -c /controller_manager --param-file /home/lhy/robot_ws/install/my_robot_gazebo/share/my_robot_gazebo/config/er4ia_controllers.yaml --ros-args --params-file /tmp/launch_params_tovwqu0p'[rbk].
2026年04月28日 14点04分
1
以下是我在终端里找出的报错信息:
[lbk]ros2_control_node-2[rbk] [lbk]ERROR[rbk] [lbk]1777197894.483983972[rbk] [lbk]rcl[rbk]: Failed to parse global arguments
[lbk]ros2_control_node-2[rbk] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[lbk]ros2_control_node-2[rbk] what(): failed to initialize rcl: Couldn't parse params file: '--params-file /home/lhy/robot_ws/install/my_robot_gazebo/share/my_robot_gazebo/config/er4ia_controllers.yaml'. Error: Cannot have a value before ros__parameters at line 7, at ./src/parse.c:800, at ./src/rcl/arguments.c:415
[lbk]ERROR[rbk] [lbk]ros2_control_node-2[rbk]: process has died [lbk]pid 72327, exit code -6, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_3lbjrj0h --params-file /home/lhy/robot_ws/install/my_robot_gazebo/share/my_robot_gazebo/config/er4ia_controllers.yaml'[rbk].
[lbk]gazebo-3[rbk] [lbk]ERROR[rbk] [lbk]1777197898.085067874[rbk] [lbk]GazeboSimROS2ControlPlugin[rbk]: Gazebo ros2 control found an empty parameters file. Failed to initialize.
[lbk]spawner-7[rbk] [lbk]ERROR[rbk] [lbk]1777198016.737378002[rbk] [lbk]ros2_control_controller_spawner_joint_trajectory_controller[rbk]: Failed to acquire lock after multiple attempts.
[lbk]ERROR[rbk] [lbk]spawner-7[rbk]: process has died [lbk]pid 72637, exit code 1, cmd '/opt/ros/jazzy/lib/controller_manager/spawner joint_trajectory_controller -c /controller_manager --param-file /home/lhy/robot_ws/install/my_robot_gazebo/share/my_robot_gazebo/config/er4ia_controllers.yaml --ros-args --params-file /tmp/launch_params_tovwqu0p'[rbk].
