2018-01-04:ros-kinetic下运行pr2出现问题

• Problem 1

inconsistent namespace redefinitions for xmlns:interface: 
old: [http://ros.org/wiki/xacro](http://ros.org/wiki/xacro) 
new: [http://playerstage.sourceforge.net/gazebo/xmlschema/#interface]
(http://playerstage.sourceforge.net/gazebo/xmlschema/#interface) 
(/home/liuqiang/Desktop/catkin_project/catin_moveit/src/pr2*common/pr2*description/urdf/common.xacro)

状态：未解决

• Problem 2

WARN: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.

状态：已解决
解决方法：注释掉base.urdf.xacro文件中178-183行的<inertial></inertial>

    <!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin,
         navigation stack dedpends on this frame -->
    <link name="${name}_footprint">
      <!-- <inertial>
        <mass value="1.0" />
        <origin xyz="0 0 0" />
        <inertia ixx="0.01" ixy="0.0" ixz="0.0"
                 iyy="0.01" iyz="0.0" izz="0.01" />
      </inertial> -->

• Problem 3

TIFFFieldWithTag: Internal error, unknown tag 0x829a.
TIFFFieldWithTag: Internal error, unknown tag 0x829d.
TIFFFieldWithTag: Internal error, unknown tag 0x8822.
TIFFFieldWithTag: Internal error, unknown tag 0x8824.
TIFFFieldWithTag: Internal error, unknown tag 0x8827.
...

状态：未解决
不过，这个问题不影响程序的运行，貌似是Ubuntu16.04自身的问题
参考：约翰霍普金斯大学的ROS编程课程

Note that beginning with urdf/05-visual.urdf RVIZ throws lots of warnings like
“TIFFFieldWithTag: Internal error, unknown tag 0x829a.”
but the program runs OK.

• Problem 4

TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.

状态：未解决