我试图按照以下方式编写一个custum ros硬件接口。这个 教程。我试图为rrbot制作一个硬件接口，用于测试，因为它提供了已经存在的rrbot描述和一些启动文件。下面是 是这个 catkin 包的 git 仓库，它成功地构建了，但当我试图查看位置控制器主题时，我只看到以下 ros 主题。
$ rostopic list
/rosout
/rosout_agg
/rrbot/joint_states
/tf
/tf_static
当我用命令启动带有控制器的硬件接口节点的时候，
roslaunch rrbot_control rrbot_hardware_interface.launch
终端显示的输出是:
started core service [/rosout]
process[rrbot/rrbot_hw_interface-2]: started with pid [14994]
process[rrbot/controller_spawner-3]: started with pid [14998]
process[rrbot/robot_state_publisher-4]: started with pid [14999]
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[INFO] [1589016205.926310]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1589016205.932689]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1589016205.938694]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1589016205.944457]: Loading controller: joint_state_controller
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^C[rrbot/robot_state_publisher-4] killing on exit
[rrbot/controller_spawner-3] killing on exit
[rrbot/rrbot_hw_interface-2] killing on exit
[INFO] [1589016208.067200]: Shutting down spawner. Stopping and unloading controllers...
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我使用的是ubuntu 18.04, ros melodic.