ikfast_working_errors

[ WARN] [1531770584.549934184, 0.280000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity.
[ WARN] [1531770584.550116152, 0.280000000]: As a result, gravity will not be simulated correctly for your model.
[ WARN] [1531770584.550146463, 0.280000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.
[ WARN] [1531770584.550170071, 0.280000000]: For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612
[ WARN] [1531770584.550960724, 0.280000000]: The mimic_joint plugin is using the Joint::SetPosition method without preserving the link velocity.
[ WARN] [1531770584.551003177, 0.280000000]: As a result, gravity will not be simulated correctly for your model.
[ WARN] [1531770584.551033182, 0.280000000]: Please set gazebo_pid parameters or upgrade to Gazebo 9.
[ WARN] [1531770584.551059401, 0.280000000]: For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612

[ERROR] [1531770584.673091087, 0.399000000]: Could not load controller 'PositionJointInterface_trajectory_controller' because controller type 'position_controllers/JointTrajectoryController' does not exist.
[ERROR] [1531770584.673245017, 0.399000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1531770585.674542, 1.324000]: Failed to load PositionJointInterface_trajectory_controller

[ERROR] [1531770587.343916470, 2.852000000]: The kinematics plugin (arm) failed to load. Error: Could not find library corresponding to plugin skeleton_arm_arm_kinematics/IKFastKinematicsPlugin. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[ERROR] [1531770587.344200853, 2.852000000]: Kinematics solver could not be instantiated for joint group arm.

во время выполнения спланированной траектории движения (эта ошибка совпадает с ошибкой, которая выводилась при выполнении обратной кинематики с помощью kdl):
[ERROR] [1531770729.959855438, 110.550000000]: Unable to identify any set of controllers that can actuate the specified joints: [ elbow_fictitious_yaw elbow_roll forearm_yaw shoulder_roll wrist_fictitious_yaw wrist_roll ]
[ERROR] [1531770729.959928620, 110.550000000]: Known controllers and their joints: