[ WARN] [1540436371.326624289, 0.129000000]: Deprecated syntax, please prepend 'hardware_interface/'

ROS中使用iiwa时遇到的问题

我的使用环境：
Ubuntu的版本：16.04
ROS的版本：kinetic

[ WARN] [1540436371.326624289, 0.129000000]: Deprecated syntax, please prepend ‘hardware_interface/’ to ‘PositionJointInterface’ within the tag in joint ‘iiwa_joint_1’.

[ 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：

${hardware_interface}</hardwareInterface> </joint> <actuator name="${robot_name}_motor_1">
${hardware_interface}</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> 改为 <joint name="${robot_name}_joint_1">
hardware_interface/PositionJointInterface


hardware_interface/PositionJointInterface
1