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I have found the reason! The original author said that this imu hardware_interface is secondary development, needs to use a specific package, and defined suitably in urdf.So,I went back to the original writing and changed it in urdf: from

<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>

to

<robotSimType>gazebo_ros_control/AKRobotHWSim</robotSimType>

Then,I get:

[INFO] [1591240645.041221, 0.387000]: Started controllers: joint_state_controller, mobile_base_controller, imu_sensor_controller

However, as a newcomer, it is not clear how to carry out the secondary development of ROS. If there are relevant cases recommended, thank you very much