[ERROR] [1656317519.169006218, 0.161000000]: No p gain specified for pid.Namespace: /arm/gazebo_ros_

如果出现如下图所示的问题：
我们找到设置pid的yaml文件

arm:# 你的机器人名称joint_state_controller:type: joint_state_controller/JointStateControllerpublish_rate: 50  joint1_position_controller:type: position_controllers/JointPositionControllerjoint: joint1# pid: {p: 100.0, i: 0.01, d: 10.0}joint2_position_controller:type: position_controllers/JointPositionControllerjoint: joint2# pid: {p: 100.0, i: 0.01, d: 10.0}joint3_position_controller:type: position_controllers/JointPositionControllerjoint: joint3# pid: {p: 100.0, i: 0.01, d: 10.0}joint4_position_controller:type: position_controllers/JointPositionControllerjoint: joint4# pid: {p: 100.0, i: 0.01, d: 10.0}joint5_position_controller:type: position_controllers/JointPositionControllerjoint: joint5# pid: {p: 100.0, i: 0.01, d: 10.0}joint6_position_controller:type: position_controllers/JointPositionControllerjoint: joint6# pid: {p: 100.0, i: 0.01, d: 10.0}finger_joint1_position_controller:type: position_controllers/JointPositionControllerjoint: finger_joint1arm/gazebo_ros_control/pid_gains:joint1: {p: 100.0, i: 0.01, d: 10.0}joint2: {p: 100.0, i: 0.01, d: 10.0}joint3: {p: 100.0, i: 0.01, d: 10.0}joint4: {p: 100.0, i: 0.01, d: 10.0}joint5: {p: 100.0, i: 0.01, d: 10.0}joint6: {p: 100.0, i: 0.01, d: 10.0}finger_joint1: {p: 100.0, i: 0.01, d: 10.0}

无需将pid设置在每一段中，pid放到最后就可以。