我的使用环境： Ubuntu的版本：16.04 ROS的版本：kinetic
[ WARN] [1540436371.328444294, 0.129000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘iiwa_joint_2’. [ WARN] [1540436371.329745112, 0.129000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘iiwa_joint_3’. [ WARN] [1540436371.330991403, 0.129000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘iiwa_joint_4’. [ WARN] [1540436371.332175478, 0.129000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘iiwa_joint_5’. [ WARN] [1540436371.333387608, 0.129000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘iiwa_joint_6’. [ WARN] [1540436371.334575222, 0.129000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘iiwa_joint_7’. 解决方法：将iiwa.transmission.xacro文件中的下面两行做修改： h a r d w a r e i n t e r f a c e < / h a r d w a r e I n t e r f a c e > < / j o i n t > < a c t u a t o r n a m e = " {hardware_interface}</hardwareInterface> </joint> <actuator name=" hardwareinterface</hardwareInterface></joint><actuatorname="{robot_name}_motor_1"> h a r d w a r e i n t e r f a c e < / h a r d w a r e I n t e r f a c e > < m e c h a n i c a l R e d u c t i o n > 1 < / m e c h a n i c a l R e d u c t i o n > < / a c t u a t o r > 改 为 < j o i n t n a m e = " {hardware_interface}</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> 改为 <joint name=" hardwareinterface</hardwareInterface><mechanicalReduction>1</mechanicalReduction></actuator>改为<jointname="{robot_name}_joint_1"> hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1
