Gazebo、ur_modern_driver使用问题

环境：ROS Kinetic

在使用过程中：

roslaunch ur_gazebo ur5.launch

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

遇到如下问题：

1，第一次启动报错，解决方法如下：

http://answers.gazebosim.org/question/15138/need-help-with-error-when-launch-gazebo-first-time/

roslaunch ur_gazebo ur5.launch verbose:=true

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

2, 报如下错误

Action client not connected: /follow_joint_trajectory

https://github.com/ros-industrial/universal_robot/issues/281

The solution is absurdly simple, of course. You need to reinstall the gazebo_ros_pkgs. Presumably the latest version isn't included in the version of Gazebo that comes with Kinetic.

So just type

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

after installing Kinetic and all the bits and pieces listed on http://wiki.ros.org/ur_gazebo and applying fix #240 .
More details at http://gazebosim.org/tutorials?tut=ros_installing

Thanks for all the help and advice.

3, 报如下错误

系统配置是：E470，Geforce 940MX，Ubuntu16.04，ROS kinetic，cuda安装方法是先安装显卡驱动390.59，然后安装cuda9.0，在重启之后出现如下错误：

libGL error: failed to create drawable

virtual void Ogre::GLSupport::initialiseExtensions(): Assertion `pcVer && "Problems getting GL version string using glGetString"' failed.

网上说是没有opengl，但是系统里是有的。所以，我的做法是先

rosrun rviz rviz

然后运行：

roslaunch ur5_moveit_config demo.launch

最后再次运行下面的命令，无报错。

roslaunch ur_gazebo ur5.launch

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

4, ros control报错

有一次是报Failed to load joint_state_controller类似的错误，是因为未安装ros-control，运行如下命令解决。

sudo apt-get install ros-kinetic-ros-control ros-kinetic-ros-controllers

5、附赠ur_modern_driver启动记录

UR真实环境 (ur_modern_driver)：

roslaunch  ur_modern_driver ur5_bringup.launch robot_ip:=192.168.1.111

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true