ros MoveIt Gazebo仿真时出现此问题GOAL_TOLERANCE_VIOLATED：
[ INFO] [1587825473.345569278, 19.714000000]: SimpleSetup: Path simplification took 0.005695 seconds and changed from 3 to 2 states
[ INFO] [1587825480.489457576, 23.216000000]: Execution request received
[ WARN] [1587825486.726849359, 25.653000000]: Controller sldasm/arm_joint_controller failed with error GOAL_TOLERANCE_VIOLATED:
[ WARN] [1587825486.727063173, 25.653000000]: Controller handle sldasm/arm_joint_controller reports status ABORTED
[ INFO] [1587825486.727111174, 25.653000000]: Completed trajectory execution with status ABORTED ...
[ INFO] [1587825486.731878280, 25.653000000]: Execution completed: ABORTED
缘由：
发现是由于xacro文件中joint：limit的effort(joint运行的最大的力)和velocity(joint运行的最大速度)都是0，
解决办法：
个人urdf文件是从sw中导出的，因此默认都为0，改为必定大小的值就能够正常运行了