最近我在搭建gazebo仿真的时候会出现问题解决报错[gzserver-3] [Err] [Model.cc:123] Error Code 23 Msg: FrameAttachedToGraph error, Non-LINK vertex with name [model] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.[gzserver-3] [Err] [Model.cc:123] Error Code 23 Msg: Graph withmodelscope has sink vertex named [model] when starting from vertex with name [model], which is not permitted.这时候rviz是不受影响的但是gazebo加载不出东西。这个问题我目前分析出来就是和惯性矩阵有些关系。情况1如果你关节是fixed的话link不加惯性矩阵是没事的。情况2比如我这里root和base_link之间有roll_link然后root到roll_link是revolute控制roll方向的转动roll_link到base_link之间也是revolute控制pitch的转动这时候如果你没有惯性矩阵就会报错。因此需要改成带有惯性矩阵的。