moveit2报错！

通过moveit setup assistant生成的机器人配置文件中的config文件夹中的joint_limits.limit文件中max_velocity的最大速度必须是浮点数，否则会报错：

Could not find parameter robot_description_semantic and did not receive robot_description_semantic via std_msgs::msg::String subscription within 10.000000 seconds.
Could not parse the SRDF XML File. Error=XML_ERROR_EMPTY_DOCUMENT ErrorID=13 (0xd) Line number=0
             

 

default_velocity_scaling_factor: 0.1

default_acceleration_scaling_factor: 0.1

# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]

# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]

joint_limits:

joint_1:

has_velocity_limits: true

max_velocity: 1.0

has_acceleration_limits: false

max_acceleration: 0

joint_2:

has_velocity_limits: true

max_velocity: 1.0

has_acceleration_limits: false

max_acceleration: 0

joint_3:

has_velocity_limits: true

max_velocity: 1.0

has_acceleration_limits: false

max_acceleration: 0

joint_4:

has_velocity_limits: true

max_velocity: 1.0

has_acceleration_limits: false

max_acceleration: 0

joint_5:

has_velocity_limits: true

max_velocity: 1.0

has_acceleration_limits: false

max_acceleration: 0

joint_6:

has_velocity_limits: true

max_velocity: 1.0

has_acceleration_limits: false

max_acceleration: 0