[ WARN] [1689253373.292029834, 104.560000000]: GazeboRosSkidSteerDrive Plugin (ns = //) missing <covariance_x>, defaults to 0.000100 [ WARN] [1689253373.293199393, 104.560000000]: GazeboRosSkidSteerDrive Plugin (ns = //) missing <covariance_y>, defaults to 0.000100 [ WARN] [1689253373.293433464, 104.560000000]: GazeboRosSkidSteerDrive Plugin (ns = //) missing <covariance_yaw>, defaults to 0.010000

这些警告信息表示在GazeboRosSkidSteerDrive插件中缺少<covariance_x>、<covariance_y>和<covariance_yaw>参数，并且这些参数的默认值分别为0.000100和0.010000。这些参数通常用于设置运动模型的协方差，用于估计机器人的运动不确定性。如果你想自定义这些参数，可以在插件的配置文件中添加相应的参数，并设置适当的值。如果你不确定如何修改插件的配置文件，请提供更多的信息，以便我能够更好地帮助你解决问题。

相关问题

[ WARN] [1679574676.572173958, 257.577000000]: DiffDrive(ns = //): missing <odometrySource> default is 1

这似乎是一个ROS机器人底盘控制软件中的警告信息，提示机器人底盘没有正确的里程计信息来源。需要在配置文件中添加<odometrySource>标记，并指定正确的里程计话题或传感器。具体配置方法需要查看相关的操作手册或文档。

<?xml version="1.0" encoding="utf-8" ?> <nlog xmlns="http://www.nlog-project.org/schemas/NLog.xsd" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.nlog-project.org/schemas/NLog.xsd NLog.xsd" autoReload="true" throwExceptions="false" internalLogLevel="Off" internalLogFile="c:\temp\nlog-internal.log"> <!-- optional, add some variables https://github.com/nlog/NLog/wiki/Configuration-file#variables --> <variable name="myvar" value="myvalue"/> <!-- See https://github.com/nlog/nlog/wiki/Configuration-file for information on customizing logging rules and outputs. --> <targets> <!-- add your targets here See https://github.com/nlog/NLog/wiki/Targets for possible targets. See https://github.com/nlog/NLog/wiki/Layout-Renderers for the possible layout renderers. --> <!-- Write events to a file with the date in the filename. <target xsi:type="File" name="f" fileName="${basedir}/logs/${shortdate}.log" layout="${longdate} ${uppercase:${level}} ${message}" /> --> <target xsi:type="File" name="f" fileName="logs/${shortdate}.log" archiveFileName="logs/archive.{#}.log" archiveEvery="Day" archiveNumbering="Rolling" maxArchiveFiles="30" concurrentWrites="true" keepFileOpen="false" encoding="utf-8"> <layout xsi:type="CsvLayout" delimiter="auto" withHeader="true" > <column name="time" layout="${longdate:universalTime=false}" /> <column name="threadid" layout="${threadid}"/> <column name="level" layout="${level:upperCase=true}"/> <column name="callsite" layout="${callsite:includeSourcePath=true}" /> <column name="message" layout="${message}" /> <column name="stacktrace" layout="${callsite:includeSourcePath=true}" /> <column name="exception" layout="${exception:format=ToString}"/> </layout> </target> <target xsi:type="File" name="c" layout="${threadid} ${uppercase:${level}} ${message} ${callsite} ${exception:format=tostring}" /> </targets> <rules> <!-- add your logging rules here --> <!-- Write all events with minimal level of Debug (So Debug, Info, Warn, Error and Fatal, but not Trace) to "f" <logger name="*" minlevel="Debug" writeTo="f" /> --> <logger name="*" writeTo="f,c" /> </rules> </nlog>NLog这个配置给我怎么加注释说明

在NLog配置文件中添加注释可以使用XML的注释标记`<!-- 注释内容 -->`，例如：

<?xml version="1.0" encoding="utf-8" ?>
<nlog xmlns="http://www.nlog-project.org/schemas/NLog.xsd"      
      xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"      
      xsi:schemaLocation="http://www.nlog-project.org/schemas/NLog.xsd NLog.xsd"      
      autoReload="true"      
      throwExceptions="false"      
      internalLogLevel="Off" 
      internalLogFile="c:\temp\nlog-internal.log">

    <!-- 定义变量 -->
    <variable name="myvar" value="myvalue"/>

    <!-- 定义日志输出目标 -->
    <targets>
        <!-- 文件日志 -->
        <target xsi:type="File" name="f" fileName="logs/${shortdate}.log" 
                 archiveFileName="logs/archive.{#}.log" 
                 archiveEvery="Day" 
                 archiveNumbering="Rolling" 
                 maxArchiveFiles="30" 
                 concurrentWrites="true" 
                 keepFileOpen="false" encoding="utf-8">
            <layout xsi:type="CsvLayout" delimiter="auto" withHeader="true" >
                <column name="time" layout="${longdate:universalTime=false}" />
                <column name="threadid" layout="${threadid}"/>
                <column name="level" layout="${level:upperCase=true}"/>
                <column name="callsite" layout="${callsite:includeSourcePath=true}" />
                <column name="message" layout="${message}" />
                <column name="stacktrace" layout="${callsite:includeSourcePath=true}" />
                <column name="exception" layout="${exception:format=ToString}"/>
            </layout>
        </target>

        <!-- 控制台日志 -->
        <target xsi:type="File" name="c" layout="${threadid} ${uppercase:${level}} ${message} ${callsite} ${exception:format=tostring}" />
    </targets>

    <!-- 定义日志输出规则 -->
    <rules>
        <logger name="*" writeTo="f,c" />
    </rules>
</nlog>

在需要注释的地方添加注释即可，例如：

<!-- 定义变量 -->
<variable name="myvar" value="myvalue"/>

<!-- 定义日志输出目标 -->
<targets>
    <!-- 文件日志 -->
    <target xsi:type="File" name="f" fileName="logs/${shortdate}.log" 
             archiveFileName="logs/archive.{#}.log" 
             archiveEvery="Day" 
             archiveNumbering="Rolling" 
             maxArchiveFiles="30" 
             concurrentWrites="true" 
             keepFileOpen="false" encoding="utf-8">
        <layout xsi:type="CsvLayout" delimiter="auto" withHeader="true" >
            <column name="time" layout="${longdate:universalTime=false}" />
            <column name="threadid" layout="${threadid}"/>
            <column name="level" layout="${level:upperCase=true}"/>
            <column name="callsite" layout="${callsite:includeSourcePath=true}" />
            <column name="message" layout="${message}" />
            <column name="stacktrace" layout="${callsite:includeSourcePath=true}" />
            <column name="exception" layout="${exception:format=ToString}"/>
        </layout>
    </target>

    <!-- 控制台日志 -->
    <target xsi:type="File" name="c" layout="${threadid} ${uppercase:${level}} ${message} ${callsite} ${exception:format=tostring}" />
</targets>

<!-- 定义日志输出规则 -->
<rules>
    <logger name="*" writeTo="f,c" />
</rules>