Gazebo机械臂仿真加载ros_control控制器时，企图用rostopic pub同时控制多个joint时，发生错误。
ros_controllers.yaml文件部分如下：
arms_controller:
# [Joint1,Joint2,Joint3,Joint4,Joint5,Joint6,Joint7]
type: "position_controllers/JointTrajectoryController"
joints:
- Joint1
- Joint2
- Joint3
- Joint4
- Joint5
- Joint6
- Joint7
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
Joint1: {trajectory: 0.1, goal: 0.1}
Joint2: {trajectory: 0.1, goal: 0.1}
Joint3: {trajectory: 0.1, goal: 0.1}
Joint4: {trajectory: 0.1, goal: 0.1}
Joint5: {trajectory: 0.1, goal: 0.1}
Joint6: {trajectory: 0.1, goal: 0.1}
Joint7: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 25
action_monitor_rate: 10
代码无报错正常载入，查看当前话题，输出如下：
/arms_controller/command
/arms_controller/follow_joint_trajectory/cancel
/arms_controller/follow_joint_trajectory/feedback
/arms_controller/follow_joint_trajectory/goal
/arms_controller/follow_joint_trajectory/result
/arms_controller/follow_joint_trajectory/status
/arms_controller/state
/attached_collision_object
/clock
/collision_object
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/performance_metrics
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_ros_control/pid_gains/Joint1/parameter_descriptions
/gazebo_ros_control/pid_gains/Joint1/parameter_updates
/gazebo_ros_control/pid_gains/Joint2/parameter_descriptions
/gazebo_ros_control/pid_gains/Joint2/parameter_updates
/gazebo_ros_control/pid_gains/Joint3/parameter_descriptions
/gazebo_ros_control/pid_gains/Joint3/parameter_updates
/gazebo_ros_control/pid_gains/Joint4/parameter_descriptions
/gazebo_ros_control/pid_gains/Joint4/parameter_updates
/gazebo_ros_control/pid_gains/Joint5/parameter_descriptions
/gazebo_ros_control/pid_gains/Joint5/parameter_updates
/gazebo_ros_control/pid_gains/Joint6/parameter_descriptions
/gazebo_ros_control/pid_gains/Joint6/parameter_updates
/gazebo_ros_control/pid_gains/Joint7/parameter_descriptions
/gazebo_ros_control/pid_gains/Joint7/parameter_updates
/joint_states
/move_group/cancel
/move_group/display_planned_path
/move_group/feedback
/move_group/goal
/move_group/monitored_planning_scene
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/status
/planning_scene
/planning_scene_world
/recognized_object_array
/rosout
/rosout_agg
/rviz_demo_51713_3644598380636787164/motionplanning_planning_scene_monitor/parameter_descriptions
/rviz_demo_51713_3644598380636787164/motionplanning_planning_scene_monitor/parameter_updates
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full
/tf
/tf_static
/trajectory_execution_event
可以看到，第一个话题/arms_controller/command载入成功，此时希望通过该话题对gazebo中关节进行控制，因此输入下列命令：
rostopic pub /arms_controller/command trajectory_msgs/JointTrajectory "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
joint_names:
- ''
points:
- positions: [0]
velocities: [0]
accelerations: [0]
effort: [0]
time_from_start: {secs: 0, nsecs: 0}"
/arms_controller后面的命令都是tab自动补齐的，本人没有对其进行任何修改，在该基础上，本人尝试修改points下的positions部分为[0,1,0,0,0,0,0]，具体如下：
rostopic pub /arms_controller/command trajectory_msgs/JointTrajectory "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
joint_names:
- ''
points:
- positions: [0,1,0,0,0,0,0]
velocities: [0]
accelerations: [0]
effort: [0]
time_from_start: {secs: 0, nsecs: 0}"
此时发生错误如下，并且gazebo机械臂没有任何响应：
[ERROR] [1680232179.902037468, 111.904000000]: Cannot create trajectory from message. It does not contain the expected joints.
对该错误非常困惑，另外，rostopic pub补齐时,joint_names一项设置自动为空，而不是在yaml文件中的Joint1-Joint7，对此也不太明白，请求各位指点！（附，本人也尝试了同时修改positions,velocities,accelerations，但是仍然出现相同的错误）
不知道你这个问题是否已经解决, 如果还没有解决的话: