1:
[ WARN] [1640073545.549872180, 0.028000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'gripper_finger1_joint'.
答案：在robotiq_85_gripper.transmission.xacro里面提示的PositionJointInterface地方改成hardware_interface/PositionJointInterface.

2:
ResourceNotFound: rgbd_launch
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/xiaofei/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share
答案：sudo apt install ros-kinetic-rgbd-launch

3.[spawn_gazebo_model-4] process has died [pid 6349, exit code 1, cmd /opt/ros/kinetic/lib/gazebo_ros/spawn_model -urdf -param robot_description -model robot -z 0.1 __name:=spawn_gazebo_model __log:=/home/xiaofei/.ros/log/c2f60db0-6314-11ec-802a-a088697ea793/spawn_gazebo_model-4.log].
答案：

sudo nautilus

4.The ‘use_gui’ parameter was specified, which is deprecated. We’ll attempt to find and run the GUI, but if this fails you should install the ‘joint_state_publisher_gui’ package instead and run that. This backwards compatibility option will be removed in Noetic.
答案：用joint_state_publisher_gui替换原本的joint_state_publisher，然后删除launch中对use_gui的设置。

5.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
答案：在读取xacro文件时，需要添加–inorder,如<param name="robot_description" command="$(find xacro)/xacro $(find robotiq_2f_85_gripper_visualization)/urdf/robotiq_arg2f_85_model.xacro --inorder" />  

6.Unable to register with master node [http://localhost:11311/]: master may not be running yet. Will keep trying.
答案：先运行roscore

7.ubuntu'ascii' codec can't decode byte 0xe6 in position 15: ordinal not in range(128).
答案：路径改成英文

8.[ERROR] [1606720828.108327956，173.719000000]: Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 joint3 joint4 joLnt5 joint6 ]
[ERROR] [1606720828.108344184，173.719000000]: Known controllers and their joints:
[ERROR][1606720828.108361472，173.719000000]: Apparently trajectory initialization failed
答案：修改marm_moveit_config/launch/arm_moveit_controller_manager.launch文件.
将下图的红框部分删除或者注释掉（这好像是moveit配置程序自动生成的一个.yaml文件），修改为红框上面的语句：

<rosparam file="$(find marm_moveit_config)/config/controllers.yaml" />

9.Could not find the planner configuration ‘None‘ on the param server
解决方法：
找到ompl_planning.yaml文件并用gedit打开
我的此文件位于：home/catkin_ws/src/arm_moveit_config/config文件夹中
找到default_planner_config，选择下面一行planner_configs:中任意一个

10. Add the installation prefix of "moveit_visual_tools" to CMAKE_PREFIX_PATH
  or set "moveit_visual_tools_DIR" to a directory containing one of the above
  files.  If "moveit_visual_tools" provides a separate development package or
  SDK, be sure it has been installed.
答案：

sudo apt-get install ros-kinetic-moveit-visual-tools

11.[ERROR] [1640488254.422945398]: Failed to build tree: child link [base_link] of joint [world_joint] not found
答案：观察加载的urdf.xacro文件是否有错误，在报错的地方检查，改错时发现在world_joint前面少写/xacro:ur5_robot>

12.[ERROR] [1640522467.660888108]: No sensor plugin specified for octomap updater 0; ignoring.
答案：sensors:
  - {}修改为sensors: []

13.GazeboRosControlPlugin missing <legacyModeNS> while using DefaultRobotHWSim, defaults to true.

答案：修改ur_description里面的common.gazebo.xacro，添加<legacyModeNS>true</legacyModeNS>这句话, </plugin>
</gazebo>以上

14.[ERROR] [1641130094.256233188, 0.312000000]: The list of joints for controller gripper_controller is not specified as an array
答案：moveit_controller_manager.launch.xml修改ros_controllers.yaml为controllers.yaml

15.[ERROR] [1641216608.187224084, 0.118000000]: Could not load controller 'joint_state_controller' because controller type 'joint_state_controller/JointStateController' does not exist.
[ERROR] [1641216608.187293611, 0.118000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
Error when loading joint_state_controller
[ERROR] [1641216608.194287393, 0.124000000]: Could not start controller with name joint_state_controller because no controller with this name exists
Error when starting  ['joint_state_controller']
[ERROR] [1641216608.302527055, 0.218000000]: Could not load controller 'arm_controller' because controller type 'position_controllers/JointTrajectoryController' does not exist.
[ERROR] [1641216608.302589912, 0.218000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
Error when loading arm_controller
[ERROR] [1641216608.310117792, 0.227000000]: Could not start controller with name arm_controller because no controller with this name exists

答案:注意版本，这里是kinetic，根据自己版本修改
$

sudo apt-get install ros-kinetic-joint-state-controller
sudo apt-get install ros-kinetic-effort-controllers
sudo apt-get install ros-kinetic-position-controllers 

要是还解决不了直接执行下面命令

sudo apt-get install ros*controller*

16.

 Could not find a package configuration file provided by "manipulation_msgs"
  with any of the following names:

    manipulation_msgsConfig.cmake
    manipulation_msgs-config.cmake

 答案：下载https://github.com/ros-interactive-manipulation/manipulation_msgs.git

 https://github.com/ros-interactive-manipulation/household_objects_database_msgs.git

的两个包，放在工作空间的src里面，用catkin_make编译一下。

17.Aborted (core dumped)
[gazebo_gui-2] process has died [pid 4588, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/wm/.ros/log/645ac1f0-efdb-11e9-a370-000c29302a6f/gazebo_gui-2.log].
log file: /home/wm/.ros/log/645ac1f0-efdb-11e9-a370-000c29302a6f/gazebo_gui-2*.log
[WARN] [1571206153.468487, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.

 答案：

killall gzserver && killall gzclient 

18.[Err] [REST.cc:205] Error in REST request 

 答案：在主目录打开终端：gedit .ignition/fuel/config.yaml，

将

​url: https://api.ignitionfuel.org

改为

​url: https://api.ignitionrobotics.org

19. RLException: unused args [execution_type] for include of [/home/sxf123/ur_ws/src/ur_robotiq_realsense_moveit_config/launch/ur5_moveit_controller_manager.launch.xml]

答案:找到moveit_config文件夹里面的ur5_moveit_controller_manager.launch.xml，加入以下代码段

  <arg name="execution_type" />
  <arg name="use_controller_manager" default="true" />
  <param name="use_controller_manager" value="$(arg use_controller_manager)" />

20.RLException: unused args [config] for include of [/home/sxf123/ur_ws/src/ur_robotiq_realsense_moveit_config/launch/moveit_rviz.launch]
The traceback for the exception was written to the log file

答案：找到moveit_config文件夹里面的moveit_rviz.launch,将

  <arg name="rviz_config" default="" />
  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />

改为

  <arg name="config" default="false" />
  <arg unless="$(arg config)" name="command_args" default="" />
  <arg     if="$(arg config)" name="command_args" default="-d $(find ur_robotiq_realsense_moveit_config)/launch/moveit.rviz" />

（注意：路径要改成自己的文件路径）

 30.load_parameters: unable to set parameters (last param was [/robot_description_planning/joint_limits/elbow_joint/has_velocity_limits=True]): cannot marshal None unless allow_none is enabled

答案：我的是新建的控制器的yaml文件里面的缩进不对。

31.RLException: error loading <rosparam> tag: 
    file /home/sxf123/ur_ws/src/ur_robotiq_realsense/ur_robotiq_realsense_gazebo/arm_controllers/gazebo_ros_control_params.yaml contains invalid YAML:
while scanning for the next token
found character '\t' that cannot start any token
  in "<string>", line 2, column 1:
        pid_gains:

答案：yaml中错用了tab键来缩进，应该用空格键缩进

32. SyntaxError: Non-ASCII character '\xe5' in file moveit_cartesian_demo.py on line 10, but no encoding declared; see http://python.org/dev/peps/pep-0263/ for details

答案：在报错的python文件里面，加入

# -*- coding: UTF-8 -*-

33.Ubuntu---gedit 打开windows 下 .txt 文件乱码的解决方法

gsettings set org.gnome.gedit.preferences.encodings candidate-encodings "['UTF8','GB18030','GB2312','GBK','BIG5','CURRENT','UTF-16']"

33.Gazebo [Err] [REST.cc:205] Error in REST request

sudo gedit ~/.ignition/fuel/config.yaml

     然后将  url : https://api.ignitionfuel.org   用 # 注释掉
    添加 url: https://api.ignitionrobotics.org  

34.ERROR: Could not install packages due to an OSError: [WinError 5] 拒绝访问。

答案：解决方法：把pip install······改成pip install --user·····即可