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    教材6.4.2在Gazebo中加载机器人，构建完成功能包后启动gazebo_sim.launch.py显示找不到gazebo_ros功能包

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    ROS2机器人开发：从入门到实践
    ros2教材6.4.2 gazebo-bos-pkgs
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    • D
      DDDDDDDDkiss @小伊
      最后由 编辑

      @小伊 谢谢，这个问题解决了，但是又遇到一个新问题
      问题描述：
      尝试加载 'fishbot.urdf.xacro' 的文件时，找不到该文件
      具体细节：
      在运行gazebo_sim.launch.py文件时出现如下错误
      [INFO] [launch]: All log files can be found below /home/dong/.ros/log/2024-09-21-21-55-25-883495-dong-virtual-machine-12505
      [INFO] [launch]: Default logging verbosity is set to INFO
      [ERROR] [launch]: Caught exception in launch (see debug for traceback): file not found: [Errno 2] No such file or directory: 'xacro/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro'
      ac13e3d2-85dd-42eb-884c-83cf1de34967-image.png
      尝试过的解决办法：
      构建功能包后，利用xacro将fishbot.urdf.xacro转换成URDF格式，但还是不行，并且fishbot.urdf.xacro确定是在该路径下
      455c8a63-f0c6-4f6e-a178-42e370a41b65-image.png

      小鱼小 1 条回复 最后回复 回复 引用 0
      • 小伊小
        机器人小伊
        最后由 编辑

        从你提供的错误信息来看，问题出在文件路径的处理上。错误信息中显示的路径 'xacro/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro' 看起来像是路径拼接错误，因为它以 'xacro/' 开头，这通常不是文件系统中的实际路径。

        解决步骤

        1. 检查launch文件：
          打开你的 gazebo_sim.launch.py 文件（或任何启动文件），查找引用 fishbot.urdf.xacro 文件的部分。确保文件路径是正确的。通常，你应该在 xacro 标签中指定文件的相对或绝对路径。例如：

          <param name="robot_description" command="$(find xacro)/xacro.py '$(find fishbot_description)/urdf/fishbot/fishbot.urdf.xacro'" />

          注意这里使用了 $(find ...) 来查找包的路径，这样可以确保无论工作空间的位置如何，都能正确地找到文件。

        2. 检查文件位置：
          确保 fishbot.urdf.xacro 文件确实位于 ~/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/ 路径下。你可以使用 ls 命令来验证这一点：

          ls ~/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro

          如果文件不存在，你需要检查你的构建过程是否成功地将文件安装到了正确的位置。

        3. 重新构建工作空间：
          如果文件位置正确但问题依旧，尝试重新构建你的工作空间：

          cd ~/chapt6/chapt6_ws
catkin clean
catkin build
source devel/setup.bash

          确保在构建完成后重新加载环境变量。

        4. 检查ROS环境变量：
          确保 ROS_PACKAGE_PATH 环境变量包含了你的工作空间的 src 目录。你可以通过打印该环境变量来检查：

          echo $ROS_PACKAGE_PATH

          如果未包含，你可能需要添加它到你的 .bashrc 或 .bash_profile 文件中。

        5. 检查权限问题：
          确保你有足够的权限访问该文件。你可以使用 chmod 和 chown 命令来修改文件权限和所有权。

        6. 运行仿真：
          在完成上述步骤后，尝试再次运行你的 gazebo_sim.launch.py 文件。

        如果以上步骤都不能解决问题，你可能需要查看更详细的调试信息或日志，以确定问题的根源。

        以上为生成回答，仅供参考～

        我是小伊，已接入ChatGpt，所有回复，仅供参考～

        D 2 条回复 最后回复 回复 引用 0
        • D
          DDDDDDDDkiss @小伊
          最后由 编辑

          此回复已被删除！
          1 条回复 最后回复 回复 引用 0
          • 小伊小
            机器人小伊
            最后由 编辑

            您遇到的错误 [Err] [WindowManager.cc:132] Unable to create the rendering window 和 [ERROR] [gzclient-3]: process has died [pid 22432, exit code -6, cmd 'gzclient --verbose'] 表明 Gazebo 的图形用户界面（GUI）无法正确创建渲染窗口。这通常与图形驱动、环境设置或资源限制有关。以下是一些可能的解决步骤：

            1. 检查图形驱动：

              • 确保您的系统安装了正确的图形驱动，并且是最新的。如果您使用的是 NVIDIA 显卡，请确保安装了 NVIDIA 驱动。
              • 如果您是在虚拟机中运行 Gazebo，请确保虚拟机的图形内存分配足够（例如，在 VMware 或 VirtualBox 中增加显存）。

            2. 使用软件渲染：

              • 尝试使用软件渲染而不是硬件加速。这可以通过设置环境变量 MESA_GL_VERSION_OVERRIDE 来实现，尽管这通常不推荐用于生产环境，因为它会降低性能。
              • 在命令行中运行：export MESA_GL_VERSION_OVERRIDE=3.3 compatible profile，然后再次尝试启动 Gazebo。

            3. 检查资源限制：

              • 确保系统没有资源限制（如内存不足、CPU 使用率过高等）。
              • 使用系统监视工具（如 top, htop, free -m）来检查资源使用情况。

            4. 使用 Xvfb（如果不需要 GUI）：

              • 如果您不需要 GUI，可以考虑使用 Xvfb（X Virtual Framebuffer）来运行 Gazebo。这可以通过在 .bashrc 或 .zshrc 文件中设置 export DISPLAY=:99.0 和使用 Xvfb :99 -screen 0 1024x768x24 & 来启动 Xvfb 实现。

            5. 检查 Gazebo 和 ROS 的版本兼容性：

              • 确保您安装的 Gazebo 和 ROS 版本是相互兼容的。有时候，新版本的 ROS 可能不完全支持最新版本的 Gazebo，或者需要特定的配置。

            6. 查看日志文件：

              • 检查 Gazebo 和 ROS 的日志文件，看是否有更详细的错误信息。这些日志文件通常位于 ~/.ros/log/ 目录下。

            7. 重新安装 Gazebo：

              • 如果上述步骤都不能解决问题，尝试卸载并重新安装 Gazebo。

            8. 搜索相似问题：

              • 在网上搜索类似的错误信息和解决方案，看看是否有其他用户遇到过相同的问题。

            希望这些步骤能帮助您解决问题！如果问题仍然存在，请提供更多的系统信息和配置细节，以便进一步分析。

            以上为生成回答，仅供参考～

            我是小伊，已接入ChatGpt，所有回复，仅供参考～

            1 条回复 最后回复 回复 引用 0
            • D
              DDDDDDDDkiss @小伊
              最后由 编辑

              @小伊

              问题描述：
              无法正常运行gazebo

              具体细节：
              在运行gazebo_sim.launch.py文件后出现如下报错
              [INFO] [launch]: All log files can be found below /home/dong/.ros/log/2024-09-21-22-44-09-074887-dong-virtual-machine-15762
              [INFO] [launch]: Default logging verbosity is set to INFO
              [INFO] [robot_state_publisher-1]: process started with pid [15774]
              [INFO] [gzserver-2]: process started with pid [15776]
              [INFO] [gzclient-3]: process started with pid [15778]
              [INFO] [spawn_entity.py-4]: process started with pid [15780]
              [robot_state_publisher-1] [INFO] [1726929850.319091967] [robot_state_publisher]: got segment back_caster_link
              [robot_state_publisher-1] [INFO] [1726929850.319458358] [robot_state_publisher]: got segment base_footprint
              [robot_state_publisher-1] [INFO] [1726929850.319499604] [robot_state_publisher]: got segment base_link
              [robot_state_publisher-1] [INFO] [1726929850.319515421] [robot_state_publisher]: got segment camera_link
              [robot_state_publisher-1] [INFO] [1726929850.319529850] [robot_state_publisher]: got segment front_caster_link
              [robot_state_publisher-1] [INFO] [1726929850.319544763] [robot_state_publisher]: got segment imu_link
              [robot_state_publisher-1] [INFO] [1726929850.319558126] [robot_state_publisher]: got segment laser_cylinder_link
              [robot_state_publisher-1] [INFO] [1726929850.319571809] [robot_state_publisher]: got segment laser_link
              [robot_state_publisher-1] [INFO] [1726929850.319585744] [robot_state_publisher]: got segment left_wheel_link
              [robot_state_publisher-1] [INFO] [1726929850.319598997] [robot_state_publisher]: got segment right_wheel_link
              [gzclient-3] Gazebo multi-robot simulator, version 11.10.2
              [gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation.
              [gzclient-3] Released under the Apache 2 License.
              [gzclient-3] http://gazebosim.org
              [gzclient-3]
              [gzserver-2] Gazebo multi-robot simulator, version 11.10.2
              [gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation.
              [gzserver-2] Released under the Apache 2 License.
              [gzserver-2] http://gazebosim.org
              [gzserver-2]
              [spawn_entity.py-4] [INFO] [1726929851.170673259] [spawn_entity]: Spawn Entity started
              [spawn_entity.py-4] [INFO] [1726929851.171509323] [spawn_entity]: Loading entity published on topic /robot_description
              [spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
              [spawn_entity.py-4] warnings.warn(
              [spawn_entity.py-4] [INFO] [1726929851.175384518] [spawn_entity]: Waiting for entity xml on /robot_description
              [spawn_entity.py-4] [INFO] [1726929851.293758343] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
              [spawn_entity.py-4] [INFO] [1726929851.294983414] [spawn_entity]: Waiting for service /spawn_entity
              [gzserver-2] [Msg] Waiting for master.
              [gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
              [gzserver-2] [Msg] Publicized address: 192.168.137.130
              [gzserver-2] Error [parser.cc:749] Could not find model.config or manifest.xml in [/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
              [gzserver-2] Error [parser.cc:397] File [] doesn't exist.
              [gzserver-2] [Err] [Server.cc:479] Unable to read sdf file[/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
              [gzserver-2] [Wrn] [Server.cc:381] Falling back on worlds/empty.world
              [gzclient-3] [Msg] Waiting for master.
              [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
              [gzclient-3] [Msg] Publicized address: 192.168.137.130
              [gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
              [spawn_entity.py-4] [INFO] [1726929852.555628969] [spawn_entity]: Calling service /spawn_entity
              [spawn_entity.py-4] [INFO] [1726929852.767343471] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
              [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 15780]
              [gzclient-3] context mismatch in svga_surface_destroy
              [gzclient-3] context mismatch in svga_surface_destroy
              [gzclient-3] context mismatch in svga_surface_destroy
              [gzclient-3] context mismatch in svga_surface_destroy
              [gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
              [INFO] [gzclient-3]: process has finished cleanly [pid 15778]
              [gzclient-3]
              [gzclient-3]
              ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
              [robot_state_publisher-1] [INFO] [1726929963.194552833] [rclcpp]: signal_handler(signum=2)
              [gzserver-2] [Msg] Loading world file [/usr/share/gazebo-11/worlds/empty.world]
              [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 15774]
              [INFO] [gzserver-2]: process has finished cleanly [pid 15776]
              [gzserver-2]
              [gzserver-2]

              在安装qtwayland5即sudo apt-get install qtwayland5后再次运行程序出现如下报错：

              [INFO] [launch]: All log files can be found below /home/dong/.ros/log/2024-09-21-23-57-37-636102-dong-virtual-machine-22426
              [INFO] [launch]: Default logging verbosity is set to INFO
              [INFO] [robot_state_publisher-1]: process started with pid [22428]
              [INFO] [gzserver-2]: process started with pid [22430]
              [INFO] [gzclient-3]: process started with pid [22432]
              [INFO] [spawn_entity.py-4]: process started with pid [22434]
              [robot_state_publisher-1] [INFO] [1726934259.090423074] [robot_state_publisher]: got segment back_caster_link
              [robot_state_publisher-1] [INFO] [1726934259.091564628] [robot_state_publisher]: got segment base_footprint
              [robot_state_publisher-1] [INFO] [1726934259.091668863] [robot_state_publisher]: got segment base_link
              [robot_state_publisher-1] [INFO] [1726934259.091686071] [robot_state_publisher]: got segment camera_link
              [robot_state_publisher-1] [INFO] [1726934259.091694315] [robot_state_publisher]: got segment front_caster_link
              [robot_state_publisher-1] [INFO] [1726934259.091724412] [robot_state_publisher]: got segment imu_link
              [robot_state_publisher-1] [INFO] [1726934259.091740840] [robot_state_publisher]: got segment laser_cylinder_link
              [robot_state_publisher-1] [INFO] [1726934259.091749568] [robot_state_publisher]: got segment laser_link
              [robot_state_publisher-1] [INFO] [1726934259.091757052] [robot_state_publisher]: got segment left_wheel_link
              [robot_state_publisher-1] [INFO] [1726934259.091764544] [robot_state_publisher]: got segment right_wheel_link
              [gzclient-3] Gazebo multi-robot simulator, version 11.10.2
              [gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation.
              [gzclient-3] Released under the Apache 2 License.
              [gzclient-3] http://gazebosim.org
              [gzclient-3]
              [gzserver-2] Gazebo multi-robot simulator, version 11.10.2
              [gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation.
              [gzserver-2] Released under the Apache 2 License.
              [gzserver-2] http://gazebosim.org
              [gzserver-2]
              [spawn_entity.py-4] [INFO] [1726934260.028990229] [spawn_entity]: Spawn Entity started
              [spawn_entity.py-4] [INFO] [1726934260.029878669] [spawn_entity]: Loading entity published on topic /robot_description
              [spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
              [spawn_entity.py-4] warnings.warn(
              [spawn_entity.py-4] [INFO] [1726934260.039814343] [spawn_entity]: Waiting for entity xml on /robot_description
              [spawn_entity.py-4] [INFO] [1726934260.063932616] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
              [spawn_entity.py-4] [INFO] [1726934260.067932820] [spawn_entity]: Waiting for service /spawn_entity
              [spawn_entity.py-4] [INFO] [1726934261.353630072] [spawn_entity]: Calling service /spawn_entity
              [gzclient-3] [Msg] Waiting for master.
              [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
              [gzclient-3] [Msg] Publicized address: 192.168.137.130
              [gzclient-3] [Wrn] [GuiIface.cc:120] QSocketNotifier: Can only be used with threads started with QThread
              [spawn_entity.py-4] [INFO] [1726934261.565882792] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
              [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 22434]
              [gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
              [gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
              [gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
              [gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
              [gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
              [gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
              [gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
              [gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
              [gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
              [gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
              [gzclient-3] [Err] [WindowManager.cc:139] EXCEPTION: Unable to create the rendering window
              [gzclient-3]
              [gzclient-3]
              [gzclient-3] terminate called after throwing an instance of 'gazebo::common::Exception'
              [ERROR] [gzclient-3]: process has died [pid 22432, exit code -6, cmd 'gzclient --verbose'].
              [gzclient-3]

              1 条回复 最后回复 回复 引用 0
              • 小伊小
                机器人小伊
                最后由 编辑

                从您提供的错误信息和日志中，我们可以看到几个关键的问题点，这些问题导致了 Gazebo 无法正常运行。下面是一些分析和建议的解决步骤：

                1. model.config 或 manifest.xml 文件缺失

                错误信息：

                [gzserver-2] Error [parser.cc:749] Could not find model.config or manifest.xml in [/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] Error [parser.cc:397] File [] doesn't exist.
[gzserver-2] [Err] [Server.cc:479] Unable to read sdf file[/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]

                解决步骤：

                • 检查 /home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world 文件的路径和内容。确认这个文件是一个 SDF (Simulation Description Format) 文件，而不是 XML 文件或其他类型。
                • 如果 custom_room.world 应该是一个包含机器人模型的世界文件，它应该引用模型文件而不是包含模型定义。通常，模型定义在 .urdf 或 .sdf 文件中，并通过 <include> 标签在 .world 文件中引用。
                • 检查模型文件（如 URDF 或 SDF）是否存在，并确保它们的路径在 .world 文件中正确引用。

                2. Qt 平台插件问题

                错误信息：

                [gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
[gzclient-3] [Wrn] [GuiIface.cc:120] QSocketNotifier: Can only be used with threads started with QThread

                解决步骤：

                • 这些警告可能表明 Gazebo 客户端（gzclient）在尝试使用 Qt GUI 时遇到了问题。首先，确保您的系统安装了所有必要的 Qt 库和插件。
                • 尝试运行 export QT_DEBUG_PLUGINS=1 并在运行 gzclient 之前设置此环境变量，以查看更详细的插件加载信息。
                • 如果您正在使用虚拟机，请确保虚拟机配置支持 GUI 应用程序。

                3. 渲染窗口创建失败

                错误信息：

                [gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
...
[gzclient-3] terminate called after throwing an instance of 'gazebo::common::Exception'

                解决步骤：

                • 这通常与图形驱动或硬件加速设置有关。尝试更新您的图形驱动程序。
                • 如果您在虚拟机中运行 Gazebo，请确保分配给虚拟机的视频内存足够，并且启用了 3D 加速。
                • 检查是否有其他图形密集型应用程序正在运行，这些应用程序可能会占用大量 GPU 资源。

                总结

                解决这些问题可能需要一些系统级的配置和调试。首先，确保所有文件路径和类型都是正确的，并且所有必要的库和插件都已安装。其次，检查图形驱动程序和硬件加速设置。最后，如果问题仍然存在，您可能需要考虑在更强大的硬件或更稳定的操作系统环境中运行 Gazebo。

                以上为生成回答，仅供参考～

                我是小伊，已接入ChatGpt，所有回复，仅供参考～

                1 条回复 最后回复 回复 引用 0
                • 小鱼小
                  小鱼 技术大佬 @DDDDDDDDkiss
                  最后由 编辑

                  @DDDDDDDDkiss 第一章安装ROS，你跟着做了吗

                  新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

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                  • 小鱼小
                    小鱼 技术大佬 @DDDDDDDDkiss
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                    @DDDDDDDDkiss 在 教材6.4.2在Gazebo中加载机器人，构建完成功能包后启动gazebo_sim.launch.py显示找不到gazebo_ros功能包 中说：

                    'xacro/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro'

                    这个代码是手写的吗，注意 xacro 后面有一个空格，你忘记输入了

                    新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

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                    • D
                      DDDDDDDDkiss @小鱼
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                      @小鱼 是的，忘记了一个空格😞

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                      • D
                        DDDDDDDDkiss @小鱼
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                        @小鱼 没有，我是九月初开始学习的ros2，第一次接触，然后在b站找教程，看了很多后才发现您的《ROS2机器人开发从入门到实践》这个教程，感觉这个非常适合我这样的新手学习，然后才买的书，在这之前自己装的ros。

                        问题出在没有sudo apt update 导致这个包安装不上。

                        感谢大佬您的教程😳 👼

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                        • D
                          DDDDDDDDkiss
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                          问题描述：

                          运行gazebo_sim.launch.py后提示spawn_entity.py进程在尝试调用spawn服务时失败了，可能原因是无法找到模型配置文件（model.config）

                          具体细节和上下文：
                          具体报错如下:
                          [INFO] [launch]: All log files can be found below /home/dong/.ros/log/2024-09-23-12-30-25-553301-dong-virtual-machine-15121
                          [INFO] [launch]: Default logging verbosity is set to INFO
                          [INFO] [robot_state_publisher-1]: process started with pid [15138]
                          [INFO] [gzserver-2]: process started with pid [15140]
                          [INFO] [gzclient-3]: process started with pid [15142]
                          [INFO] [spawn_entity.py-4]: process started with pid [15144]
                          [robot_state_publisher-1] [INFO] [1727065827.205263644] [robot_state_publisher]: got segment back_caster_link
                          [robot_state_publisher-1] [INFO] [1727065827.205535477] [robot_state_publisher]: got segment base_footprint
                          [robot_state_publisher-1] [INFO] [1727065827.205563055] [robot_state_publisher]: got segment base_link
                          [robot_state_publisher-1] [INFO] [1727065827.205573539] [robot_state_publisher]: got segment camera_link
                          [robot_state_publisher-1] [INFO] [1727065827.205581927] [robot_state_publisher]: got segment camera_optical_link
                          [robot_state_publisher-1] [INFO] [1727065827.205590164] [robot_state_publisher]: got segment front_caster_link
                          [robot_state_publisher-1] [INFO] [1727065827.205597940] [robot_state_publisher]: got segment imu_link
                          [robot_state_publisher-1] [INFO] [1727065827.205606046] [robot_state_publisher]: got segment laser_cylinder_link
                          [robot_state_publisher-1] [INFO] [1727065827.205614362] [robot_state_publisher]: got segment laser_link
                          [robot_state_publisher-1] [INFO] [1727065827.205622092] [robot_state_publisher]: got segment left_wheel_link
                          [robot_state_publisher-1] [INFO] [1727065827.205629766] [robot_state_publisher]: got segment right_wheel_link
                          [gzclient-3] Gazebo multi-robot simulator, version 11.10.2
                          [gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation.
                          [gzclient-3] Released under the Apache 2 License.
                          [gzclient-3] http://gazebosim.org
                          [gzclient-3]
                          [gzserver-2] Gazebo multi-robot simulator, version 11.10.2
                          [gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation.
                          [gzserver-2] Released under the Apache 2 License.
                          [gzserver-2] http://gazebosim.org
                          [gzserver-2]
                          [spawn_entity.py-4] [INFO] [1727065828.015673602] [spawn_entity]: Spawn Entity started
                          [spawn_entity.py-4] [INFO] [1727065828.016492121] [spawn_entity]: Loading entity published on topic /robot_description
                          [spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
                          [spawn_entity.py-4] warnings.warn(
                          [spawn_entity.py-4] [INFO] [1727065828.023057714] [spawn_entity]: Waiting for entity xml on /robot_description
                          [spawn_entity.py-4] [INFO] [1727065828.036947100] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
                          [spawn_entity.py-4] [INFO] [1727065828.037622856] [spawn_entity]: Waiting for service /spawn_entity
                          [spawn_entity.py-4] [INFO] [1727065829.050763935] [spawn_entity]: Calling service /spawn_entity
                          [gzserver-2] [Msg] Waiting for master.
                          [gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
                          [gzserver-2] [Msg] Publicized address: 192.168.137.131
                          [gzserver-2] [Msg] Loading world file [/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
                          [gzserver-2] Warning [parser_urdf.cc:1134] multiple inconsistent <name> exists due to fixed joint reduction overwriting previous value [Gazebo/Black] with [Gazebo/Red].
                          [gzclient-3] [Msg] Waiting for master.
                          [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
                          [gzclient-3] [Msg] Publicized address: 192.168.137.131
                          [gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
                          [spawn_entity.py-4] [INFO] [1727065829.128184094] [spawn_entity]: Spawn status: Entity pushed to spawn queue, but spawn service timed outwaiting for entity to appear in simulation under the name [fishbot]
                          [spawn_entity.py-4] [ERROR] [1727065829.128925697] [spawn_entity]: Spawn service failed. Exiting.
                          [ERROR] [spawn_entity.py-4]: process has died [pid 15144, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -topic /robot_description -entity fishbot --ros-args'].
                          [gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/dong/.gazebo/models/.git"
                          [gzserver-2] [INFO] [1727065829.765332832] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info]
                          [gzserver-2] [INFO] [1727065829.767365729] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info]
                          [gzserver-2] [INFO] [1727065829.768455704] [depth_camera]: Publishing pointcloud to [/camera_sensor/points]
                          [gzserver-2] [INFO] [1727065829.884487163] [diff_drive]: Wheel pair 1 separation set to [0.200000m]
                          [gzserver-2] [INFO] [1727065829.884669346] [diff_drive]: Wheel pair 1 diameter set to [0.064000m]
                          [gzserver-2] [INFO] [1727065829.888237623] [diff_drive]: Subscribed to [/cmd_vel]
                          [gzserver-2] [INFO] [1727065829.895102647] [diff_drive]: Advertise odometry on [/odom]
                          [gzserver-2] [INFO] [1727065829.902048080] [diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
                          [gzserver-2] [INFO] [1727065829.902136939] [diff_drive]: Publishing wheel transforms between [base_footprint], [left_wheel_joint] and [right_wheel_joint]
                          [gzserver-2] [INFO] [1727065829.966219140] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
                          [gzserver-2] [INFO] [1727065829.977396045] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
                          [gzserver-2] [INFO] [1727065829.977612410] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
                          [gzserver-2] [INFO] [1727065829.992655156] [gazebo_ros2_control]: connected to service!! robot_state_publisher
                          [gzserver-2] [INFO] [1727065830.000029429] [gazebo_ros2_control]: Received urdf from param server, parsing...
                          [gzserver-2] [INFO] [1727065830.000223156] [gazebo_ros2_control]: Loading parameter files /home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml
                          [gzserver-2] [ERROR] [1727065830.000728011] [gazebo_ros2_control]: parser error Couldn't parse params file: '--params-file /home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml'. Error: Error opening YAML file, at ./src/parser.c:270, at ./src/rcl/arguments.c:406
                          [gzserver-2]
                          [gzclient-3] context mismatch in svga_surface_destroy
                          [gzclient-3] context mismatch in svga_surface_destroy
                          [gzserver-2] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
                          [gzclient-3] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
                          b7f23ccf-ba09-4522-8c22-1e6bcc73e10f-image.png
                          7612acd6-e493-41ec-9acb-120479cff9bf-image.png

                          小鱼小 1 条回复 最后回复 回复 引用 0
                          • 小鱼小
                            小鱼 技术大佬 @DDDDDDDDkiss
                            最后由 编辑

                            @DDDDDDDDkiss 1.格式 2.一个问题一个帖子
                            https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答

                            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

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