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Hey!

From the log you have posted, you can see that

[ WARN] [1556543979.957337287, 0.155000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.

You can check that github link to tackle the issue if you want all the errors to be gone.

But as an alternate, you can also look into this issue from github

This will solve your problems.

Hey!

From the log you have posted, you can see that

[ WARN] [1556543979.957337287, 0.155000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.
[ WARN] [1556543979.957347145, 0.155000000]: For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612

You can check that github link to tackle the issue if you want all the errors to be gone.

But as an alternate, you can also look into this issue from github

This will solve your problems.