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    从ros1平台迁移到ros2平台，然后将机器人模型导入gazebo时失败，gazebo无响应

    已定时 已固定 已锁定 已移动
    ROS2机器人开发：从入门到实践
    加载gazebo显示异常 launch
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    • L
      leolanqin
      最后由 编辑

      launch文件gazebo_world.launch.py

      import os
from launch import LaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch_ros.actions import Node
from launch.substitutions import Command , LaunchConfiguration
from launch_ros.parameter_descriptions import ParameterValue
from ament_index_python.packages import get_package_share_directory

def generate_launch_description():

    urdf_package_path = get_package_share_directory('robot_description')
    default_urdf_path=os.path.join(urdf_package_path,'urdf','robot_description.urdf')

    action_declare_arg_model_robot = DeclareLaunchArgument('model', default_value = default_urdf_path, description = 'Model of the robot')
    substitutions_command_result = Command(['xacro ',LaunchConfiguration('model')])
    robot_description_value = ParameterValue(substitutions_command_result, value_type=str)

    action_declare_x_pos = DeclareLaunchArgument('x_pos', default_value='0.0', description='X position')
    action_declare_y_pos = DeclareLaunchArgument('y_pos', default_value='0.0', description='Y position')
    action_declare_z_pos = DeclareLaunchArgument('z_pos', default_value='0.0', description='Z position')
   
    action_launch_gazebo = IncludeLaunchDescription(
                PythonLaunchDescriptionSource(
                    os.path.join(
                        get_package_share_directory('gazebo_ros'),
                        'launch',
                        'gazebo.launch.py'
                    )
                ),
                launch_arguments={
                    'world': os.path.join(get_package_share_directory('robot_description'), 'world', 'room.world'),
                    'paused': 'false',
                    'use_sim_time': 'true',
                    'gui': 'true',
                    'headless': 'false',
                    'debug': 'true'
                }.items()
            )
    
    action_robot_state_publisher = Node(
            package='robot_state_publisher',
            executable='robot_state_publisher',
            output='screen',
            parameters=[{
                'robot_description': robot_description_value
            }]
        )

    action_spawn_entity = Node(
        package='gazebo_ros',
        executable='spawn_entity.py',
        arguments=[
            '-topic','/robot_description',
            '-entity','Fu_robot'
        ]
    ) 
    
    return LaunchDescription([
        action_declare_x_pos,
        action_declare_y_pos,
        action_declare_z_pos,
        action_declare_arg_model_robot,
        action_robot_state_publisher,
        action_launch_gazebo,
        action_spawn_entity
    ])

      终端输入：

      ros2 launch robot_description gazebo_world.launch.py model:=/home/leolanqin/catkin_ws_ros2/src/robot_description/urdf/robot_description.urdf.xacro

      终端显示：

      [INFO] [launch]: All log files can be found below /home/leolanqin/.ros/log/2024-12-24-19-48-39-601713-leolanqin-virtual-machine-137116
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [137128]
[INFO] [gzserver-2]: process started with pid [137130]
[INFO] [gzclient-3]: process started with pid [137132]
[INFO] [spawn_entity.py-4]: process started with pid [137134]
[robot_state_publisher-1] [INFO] [1735040920.589923166] [robot_state_publisher]: got segment /ball_wheel_link
[robot_state_publisher-1] [INFO] [1735040920.591342777] [robot_state_publisher]: got segment /base_camera_link
[robot_state_publisher-1] [INFO] [1735040920.591364087] [robot_state_publisher]: got segment /base_footprint
[robot_state_publisher-1] [INFO] [1735040920.591374176] [robot_state_publisher]: got segment /base_laser_link
[robot_state_publisher-1] [INFO] [1735040920.591382682] [robot_state_publisher]: got segment /base_link
[robot_state_publisher-1] [INFO] [1735040920.591391448] [robot_state_publisher]: got segment /imu
[robot_state_publisher-1] [INFO] [1735040920.591401007] [robot_state_publisher]: got segment /left_wheel_link
[robot_state_publisher-1] [INFO] [1735040920.591411176] [robot_state_publisher]: got segment /right_wheel_link
[spawn_entity.py-4] [INFO] [1735040921.331660406] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1735040921.333053717] [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] [1735040921.338627613] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1735040921.355291473] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1735040921.355721465] [spawn_entity]: Waiting for service /spawn_entity
[gzserver-2] Error: Non-unique names detected in <link name='link'>
[gzserver-2]   <collision name='surface'>
[gzserver-2]     <pose>0 0 1 0 -0 0</pose>
[gzserver-2]     <geometry>
[gzserver-2]       <box>
[gzserver-2]         <size>1.5 0.8 0.03</size>
[gzserver-2]       </box>
[gzserver-2]     </geometry>
[gzserver-2]     <surface>
[gzserver-2]       <friction>
[gzserver-2]         <ode>
[gzserver-2]           <mu>0.6</mu>
[gzserver-2]           <mu2>0.6</mu2>
[gzserver-2]         </ode>
[gzserver-2]         <torsional>
[gzserver-2]           <ode/>
[gzserver-2]         </torsional>
[gzserver-2]       </friction>
[gzserver-2]       <contact>
[gzserver-2]         <ode/>
[gzserver-2]       </contact>
[gzserver-2]       <bounce/>
[gzserver-2]     </surface>
[gzserver-2]     <max_contacts>10</max_contacts>
[gzserver-2]   </collision>
[gzserver-2]   <visual name='visual1'>
[gzserver-2]     <pose>0 0 1 0 -0 0</pose>
[gzserver-2]     <geometry>
[gzserver-2]       <box>
[gzserver-2]         <size>1.5 0.8 0.03</size>
[gzserver-2]       </box>
[gzserver-2]     </geometry>
[gzserver-2]     <material>
[gzserver-2]       <script>
[gzserver-2]         <uri>file://media/materials/scripts/gazebo.material</uri>
[gzserver-2]         <name>Gazebo/Wood</name>
[gzserver-2]       </script>
[gzserver-2]     </material>
[gzserver-2]   </visual>
[gzserver-2]   <collision name='front_left_leg'>
[gzserver-2]     <pose>0.68 0.38 0.5 0 -0 0</pose>
[gzserver-2]     <geometry>
[gzserver-2]       <cylinder>
[gzserver-2]         <radius>0.02</radius>
[gzserver-2]         <length>1</length>
[gzserver-2]       </cylinder>
[gzserver-2]     </geometry>
[gzserver-2]     <max_contacts>10</max_contacts>
[gzserver-2]     <surface>
[gzserver-2]       <contact>
[gzserver-2]         <ode/>
[gzserver-2]       </contact>
[gzserver-2]       <bounce/>
[gzserver-2]       <friction>
[gzserver-2]         <torsional>
[gzserver-2]           <ode/>
[gzserver-2]         </torsional>
[gzserver-2]         <ode/>
[gzserver-2]       </friction>
[gzserver-2]     </surface>
[gzserver-2]   </collision>
[gzserver-2]   <visual name='front_left_leg'>
[gzserver-2]     <pose>0.68 0.38 0.5 0 -0 0</pose>
[gzserver-2]     <geometry>
[gzserver-2]       <cylinder>
[gzserver-2]         <radius>0.02</radius>
[gzserver-2]         <length>1</length>
[gzserver-2]       </cylinder>
[gzserver-2]     </geometry>
[gzserver-2]     <material>
[gzserver-2]       <script>
[gzserver-2]         <uri>file://media/materials/scripts/gazebo.material</uri>
[gzserver-2]         <name>Gazebo/Grey</name>
[gzserver-2]       </script>
[gzserver-2]     </material>
[gzserver-2]   </visual>
[gzserver-2]   <collision name='front_right_leg'>
[gzserver-2]     <pose>0.68 -0.38 0.5 0 -0 0</pose>
[gzserver-2]     <geometry>
[gzserver-2]       <cylinder>
[gzserver-2]         <radius>0.02</radius>
[gzserver-2]         <length>1</length>
[gzserver-2]       </cylinder>
[gzserver-2]     </geometry>
[gzserver-2]     <max_contacts>10</max_contacts>
[gzserver-2]     <surface>
[gzserver-2]       <contact>
[gzserver-2]         <ode/>
[gzserver-2]       </contact>
[gzserver-2]       <bounce/>
[gzserver-2]       <friction>
[gzserver-2]         <torsional>
[gzserver-2]           <ode/>
[gzserver-2]         </torsional>
[gzserver-2]         <ode/>
[gzserver-2]       </friction>
[gzserver-2]     </surface>
[gzserver-2]   </collision>
[gzserver-2]   <visual name='front_right_leg'>
[gzserver-2]     <pose>0.68 -0.38 0.5 0 -0 0</pose>
[gzserver-2]     <geometry>
[gzserver-2]       <cylinder>
[gzserver-2]         <radius>0.02</radius>
[gzserver-2]         <length>1</length>
[gzserver-2]       </cylinder>
[gzserver-2]     </geometry>
[gzserver-2]     <material>
[gzserver-2]       <script>
[gzserver-2]         <uri>file://media/materials/scripts/gazebo.material</uri>
[gzserver-2]         <name>Gazebo/Grey</name>
[gzserver-2]       </script>
[gzserver-2]     </material>
[gzserver-2]   </visual>
[gzserver-2]   <collision name='back_right_leg'>
[gzserver-2]     <pose>-0.68 -0.38 0.5 0 -0 0</pose>
[gzserver-2]     <geometry>
[gzserver-2]       <cylinder>
[gzserver-2]         <radius>0.02</radius>
[gzserver-2]         <length>1</length>
[gzserver-2]       </cylinder>
[gzserver-2]     </geometry>
[gzserver-2]     <max_contacts>10</max_contacts>
[gzserver-2]     <surface>
[gzserver-2]       <contact>
[gzserver-2]         <ode/>
[gzserver-2]       </contact>
[gzserver-2]       <bounce/>
[gzserver-2]       <friction>
[gzserver-2]         <torsional>
[gzserver-2]           <ode/>
[gzserver-2]         </torsional>
[gzserver-2]         <ode/>
[gzserver-2]       </friction>
[gzserver-2]     </surface>
[gzserver-2]   </collision>
[gzserver-2]   <visual name='back_right_leg'>
[gzserver-2]     <pose>-0.68 -0.38 0.5 0 -0 0</pose>
[gzserver-2]     <geometry>
[gzserver-2]       <cylinder>
[gzserver-2]         <radius>0.02</radius>
[gzserver-2]         <length>1</length>
[gzserver-2]       </cylinder>
[gzserver-2]     </geometry>
[gzserver-2]     <material>
[gzserver-2]       <script>
[gzserver-2]         <uri>file://media/materials/scripts/gazebo.material</uri>
[gzserver-2]         <name>Gazebo/Grey</name>
[gzserver-2]       </script>
[gzserver-2]     </material>
[gzserver-2]   </visual>
[gzserver-2]   <collision name='back_left_leg'>
[gzserver-2]     <pose>-0.68 0.38 0.5 0 -0 0</pose>
[gzserver-2]     <geometry>
[gzserver-2]       <cylinder>
[gzserver-2]         <radius>0.02</radius>
[gzserver-2]         <length>1</length>
[gzserver-2]       </cylinder>
[gzserver-2]     </geometry>
[gzserver-2]     <max_contacts>10</max_contacts>
[gzserver-2]     <surface>
[gzserver-2]       <contact>
[gzserver-2]         <ode/>
[gzserver-2]       </contact>
[gzserver-2]       <bounce/>
[gzserver-2]       <friction>
[gzserver-2]         <torsional>
[gzserver-2]           <ode/>
[gzserver-2]         </torsional>
[gzserver-2]         <ode/>
[gzserver-2]       </friction>
[gzserver-2]     </surface>
[gzserver-2]   </collision>
[gzserver-2]   <visual name='back_left_leg'>
[gzserver-2]     <pose>-0.68 0.38 0.5 0 -0 0</pose>
[gzserver-2]     <geometry>
[gzserver-2]       <cylinder>
[gzserver-2]         <radius>0.02</radius>
[gzserver-2]         <length>1</length>
[gzserver-2]       </cylinder>
[gzserver-2]     </geometry>
[gzserver-2]     <material>
[gzserver-2]       <script>
[gzserver-2]         <uri>file://media/materials/scripts/gazebo.material</uri>
[gzserver-2]         <name>Gazebo/Grey</name>
[gzserver-2]       </script>
[gzserver-2]     </material>
[gzserver-2]   </visual>
[gzserver-2]   <self_collide>0</self_collide>
[gzserver-2]   <enable_wind>0</enable_wind>
[gzserver-2]   <kinematic>0</kinematic>
[gzserver-2] </link>
[gzserver-2] 
[spawn_entity.py-4] [INFO] [1735040922.136157557] [spawn_entity]: Calling service /spawn_entity
[gzserver-2] Topic [default/Fu_robot//base_footprint/csi_Camera/image] is not valid.
[gzserver-2] [INFO] [1735040922.819461672] [camera_controller]: Publishing camera info to [/csi_Camera/camera_info]
[spawn_entity.py-4] [INFO] [1735040923.350189398] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [Fu_robot]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 137134]
      小鱼小 2 条回复 最后回复 回复 引用 0
      • 小鱼小
        小鱼 技术大佬 @leolanqin
        最后由 编辑

        @2745914991 在 从ros1平台迁移到ros2平台，然后将机器人模型导入gazebo时失败，gazebo无响应 中说：

        Error: Non-unique names detected in <link name='link'>

        出现了重复名字的link，建议仔细检查下urdf

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

        L 1 条回复 最后回复 回复 引用 0
        • L
          leolanqin @小鱼
          最后由 编辑

          @小鱼 感谢鱼哥回复，我已经仔细检查了我的urdf文件，并没有出现重复名字的link
          这是我的urdf文件robot_description.urdf

          <robot
  name="robot_description">

  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin xyz="0.0 0.0 0.012" rpy="0 0 0"/>
  </joint>

  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.021363490239433 0.000185677952833835 0.0417013760059846"
        rpy="0 0 0" />
      <mass
        value="0.4442754144754" />
      <inertia
        ixx="0.00169347433894092"
        ixy="-2.48653191534453E-07"
        ixz="3.6777445179091E-05"
        iyy="0.00104562302644335"
        iyz="-4.01932028426777E-06"
        izz="0.00148226749250531" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="imu">
    <inertial>
      <origin
        xyz="3.46944695195361E-18 0 -0.00353385896202057"
        rpy="0 0 0" />
      <mass
        value="0.000834" />
      <inertia
        ixx="1.72751258992806E-08"
        ixy="2.49134059713724E-24"
        ixz="-2.52435489670724E-26"
        iyy="1.01251258992806E-08"
        iyz="1.8466691376894E-25"
        izz="2.3801E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/imu.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/imu.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="imu_joint"
    type="fixed">
    <origin
      xyz="-0.056956 -0.0059543 0.072756"
      rpy="0 5.2369E-16 0" />
    <parent
      link="base_link" />
    <child
      link="imu" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="base_camera_link">
    <inertial>
      <origin
        xyz="-0.0045346942299942 1.38777878078145E-17 -0.00179125965737512"
        rpy="0 0 0" />
      <mass
        value="0.00100487943921971" />
      <inertia
        ixx="7.55677391275611E-08"
        ixy="-2.39038796583022E-24"
        ixz="-1.37755038601046E-09"
        iyy="3.94938932151791E-08"
        iyz="2.43323642233816E-23"
        izz="4.01523294449251E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/base_camera_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/base_camera_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="camera_joint"
    type="fixed">
    <origin
      xyz="0.0277 0 0.0623"
      rpy="-2.2337E-16 5.2369E-16 0" />
    <parent
      link="base_link" />
    <child
      link="base_camera_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="base_laser_link">
    <inertial>
      <origin
        xyz="-0.00911214120076251 0.000185677952834168 -0.0842986239940154"
        rpy="0 0 0" />
      <mass
        value="0.4442754144754" />
      <inertia
        ixx="0.00169347433894092"
        ixy="-2.4865319153732E-07"
        ixz="3.67774451790908E-05"
        iyy="0.00104562302644335"
        iyz="-4.01932028426874E-06"
        izz="0.00148226749250531" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/base_laser_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/base_laser_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="laser_joint"
    type="fixed">
    <origin
      xyz="-0.012251 0 0.126"
      rpy="-1.6843E-15 -1.0776E-15 4.3793E-15" />
    <parent
      link="base_link" />
    <child
      link="base_laser_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="left_wheel_link">
    <inertial>
      <origin
        xyz="-6.93889390390723E-18 3.46944695195361E-18 0.017494370940819"
        rpy="0 0 0" />
      <mass
        value="0.0561341413751443" />
      <inertia
        ixx="2.45284373382495E-05"
        ixy="1.79487710154599E-21"
        ixz="7.36303183829231E-18"
        iyy="2.45284373382495E-05"
        iyz="1.73397416098309E-17"
        izz="4.23355136524843E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/left_wheel_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.109803921568627 0.109803921568627 0.109803921568627 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/left_wheel_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_wheel_joint"
    type="continuous">
    <origin
      xyz="0 0.0658 0.02275"
      rpy="-1.5708 5.2369E-16 8.6736E-17" />
    <parent
      link="base_link" />
    <child
      link="left_wheel_link" />
    <axis
      xyz="0 0 1" />
    <limit
      effort="100"
      velocity="100" />
  </joint>
  <link
    name="right_wheel_link">
    <inertial>
      <origin
        xyz="3.46944695195361E-18 -1.73472347597681E-18 -0.017494370940819"
        rpy="0 0 0" />
      <mass
        value="0.0561341413751443" />
      <inertia
        ixx="2.45284373382495E-05"
        ixy="-1.10855737450343E-21"
        ixz="-7.37237567686968E-18"
        iyy="2.45284373382495E-05"
        iyz="1.734064769358E-17"
        izz="4.23355136524843E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/right_wheel_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.109803921568627 0.109803921568627 0.109803921568627 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/right_wheel_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_wheel_joint"
    type="continuous">
    <origin
      xyz="0 -0.0658 0.02275"
      rpy="1.5708 -5.2369E-16 3.1416" />
    <parent
      link="base_link" />
    <child
      link="right_wheel_link" />
    <axis
      xyz="0 0 1" />
    <limit
      effort="100"
      velocity="100" />
  </joint>
  <link
    name="ball_wheel_link">
    <inertial>
      <origin
        xyz="-0.00805 0 0"
        rpy="0 0 0" />
      <mass
        value="0.00218512482182764" />
      <inertia
        ixx="5.66406205065944E-08"
        ixy="0"
        ixz="0"
        iyy="5.66406205065944E-08"
        iyz="0"
        izz="5.66406205065944E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/ball_wheel_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/ball_wheel_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="ball_wheel_joint"
    type="fixed">
    <origin
      xyz="-0.06445 0 -0.0028"
      rpy="0 5.2369E-16 0" />
    <parent
      link="base_link" />
    <child
      link="ball_wheel_link" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>

          此外我输入指令

          check_urdf /home/leolanqin/catkin_ws_ros2/src/robot_description/urdf/robot_description.urdf

          终端显示

          robot name is: robot_description
---------- Successfully Parsed XML ---------------
root Link: base_footprint has 1 child(ren)
    child(1):  base_link
        child(1):  ball_wheel_link
        child(2):  base_camera_link
        child(3):  imu
        child(4):  base_laser_link
        child(5):  left_wheel_link
        child(6):  right_wheel_link

          也没有问题，实在不知道问题出在哪里

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

            @leolanqin 在 从ros1平台迁移到ros2平台，然后将机器人模型导入gazebo时失败，gazebo无响应 中说：

            [gzserver-2] Error: Non-unique names detected in <link name='link'>
            [gzserver-2] <collision name='surface'>
            [gzserver-2] <pose>0 0 1 0 -0 0</pose>
            [gzserver-2] <geometry>
            [gzserver-2] <box>
            [gzserver-2] <size>1.5 0.8 0.03</size>
            [gzserver-2] </box>
            [gzserver-2] </geometry>
            [gzserver-2] <surface>
            [gzserver-2] <friction>
            [gzserver-2] <ode>

            world 里面有没有呢，试着加载一个空的环境

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

            L 1 条回复 最后回复 回复 引用 0
            • L
              leolanqin @小鱼
              最后由 编辑

              @小鱼 感谢鱼哥，目前问题已经解决，但又有新的问题，gazebo显示不了画面，黑屏，然后强制退出，这是终端显示的信息

              [INFO] [launch]: All log files can be found below /home/leolanqin/.ros/log/2024-12-26-15-44-58-483062-leolanqin-virtual-machine-223612
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [223654]
[INFO] [gzclient-2]: process started with pid [223656]
[INFO] [robot_state_publisher-3]: process started with pid [223658]
[INFO] [spawn_entity.py-4]: process started with pid [223660]
[robot_state_publisher-3] [INFO] [1735199099.598223513] [robot_state_publisher]: got segment ball_wheel_link
[robot_state_publisher-3] [INFO] [1735199099.601007247] [robot_state_publisher]: got segment base_camera_link
[robot_state_publisher-3] [INFO] [1735199099.601024540] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-3] [INFO] [1735199099.601035621] [robot_state_publisher]: got segment base_laser_link
[robot_state_publisher-3] [INFO] [1735199099.601044859] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1735199099.601054096] [robot_state_publisher]: got segment imu
[robot_state_publisher-3] [INFO] [1735199099.601062893] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-3] [INFO] [1735199099.601071599] [robot_state_publisher]: got segment right_wheel_link
[gzserver-1] Gazebo multi-robot simulator, version 11.10.2
[gzserver-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-1] Released under the Apache 2 License.
[gzserver-1] http://gazebosim.org
[gzserver-1] 
[gzclient-2] Gazebo multi-robot simulator, version 11.10.2
[gzclient-2] Copyright (C) 2012 Open Source Robotics Foundation.
[gzclient-2] Released under the Apache 2 License.
[gzclient-2] http://gazebosim.org
[gzclient-2] 
[spawn_entity.py-4] [INFO] [1735199100.414174211] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1735199100.414795862] [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] [1735199100.421157459] [spawn_entity]: Waiting for entity xml on /robot_description
[gzclient-2] [Msg] Waiting for master.
[gzclient-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-2] [Msg] Publicized address: 192.168.112.128
[gzclient-2] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
[gzclient-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzclient-2] context mismatch in svga_surface_destroy
[gzclient-2] context mismatch in svga_surface_destroy
[spawn_entity.py-4] [INFO] [1735199103.238434255] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1735199103.239025176] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1735199103.253505089] [spawn_entity]: Calling service /spawn_entity
[gzserver-1] [Msg] Waiting for master.
[gzserver-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-1] [Msg] Publicized address: 192.168.112.128
[gzserver-1] [Msg] Loading world file [/home/leolanqin/catkin_ws_ros2/install/robot_description/share/robot_description/world/empty.world]
[gzserver-1] [Wrn] [ModelDatabase.cc:340] Getting models from[http://models.gazebosim.org/]. This may take a few seconds.
[spawn_entity.py-4] [INFO] [1735199103.404412044] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [Fu_robot]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 223660]
[ERROR] [gzclient-2]: process has died [pid 223656, exit code -9, cmd 'gzclient --verbose'].
[gzclient-2] 
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-3] [INFO] [1735199163.933715409] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 223658]
[ERROR] [gzserver-1]: process[gzserver-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [gzserver-1]: sending signal 'SIGTERM' to process[gzserver-1]
[gzserver-1] [INFO] [1735199168.941641236] [rclcpp]: signal_handler(signum=15)
[ERROR] [gzserver-1]: process[gzserver-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [gzserver-1]: sending signal 'SIGKILL' to process[gzserver-1]
[ERROR] [gzserver-1]: process has died [pid 223654, exit code -9, cmd 'gzserver /home/leolanqin/catkin_ws_ros2/install/robot_description/share/robot_description/world/empty.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[gzserver-1] 
leolanqin@leolanqin-virtual-machine:~/catkin_ws_ros2$ colcon build
Starting >>> robot_description
Starting >>> robot_navigation
Finished <<< robot_navigation [0.15s]                                                             
Finished <<< robot_description [0.21s]                  

Summary: 2 packages finished [0.66s]
leolanqin@leolanqin-virtual-machine:~/catkin_ws_ros2$ ros2 launch robot_description gazebo_world.launch.py 
[INFO] [launch]: All log files can be found below /home/leolanqin/.ros/log/2024-12-26-15-49-41-798423-leolanqin-virtual-machine-224566
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [224578]
[INFO] [gzclient-2]: process started with pid [224580]
[INFO] [robot_state_publisher-3]: process started with pid [224582]
[INFO] [spawn_entity.py-4]: process started with pid [224584]
[robot_state_publisher-3] [INFO] [1735199382.861567495] [robot_state_publisher]: got segment ball_wheel_link
[robot_state_publisher-3] [INFO] [1735199382.864334578] [robot_state_publisher]: got segment base_camera_link
[robot_state_publisher-3] [INFO] [1735199382.864369314] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-3] [INFO] [1735199382.864380766] [robot_state_publisher]: got segment base_laser_link
[robot_state_publisher-3] [INFO] [1735199382.864390304] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1735199382.864398930] [robot_state_publisher]: got segment imu
[robot_state_publisher-3] [INFO] [1735199382.864407637] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-3] [INFO] [1735199382.864416413] [robot_state_publisher]: got segment right_wheel_link
[gzserver-1] Gazebo multi-robot simulator, version 11.10.2
[gzserver-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-1] Released under the Apache 2 License.
[gzserver-1] http://gazebosim.org
[gzserver-1] 
[gzclient-2] Gazebo multi-robot simulator, version 11.10.2
[gzclient-2] Copyright (C) 2012 Open Source Robotics Foundation.
[gzclient-2] Released under the Apache 2 License.
[gzclient-2] http://gazebosim.org
[gzclient-2] 
[spawn_entity.py-4] [INFO] [1735199383.674311030] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1735199383.674829424] [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] [1735199384.016267056] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1735199384.027940196] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1735199384.028571054] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1735199384.544525994] [spawn_entity]: Calling service /spawn_entity
[gzserver-1] [Msg] Waiting for master.
[gzserver-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-1] [Msg] Publicized address: 192.168.112.128
[gzserver-1] [Msg] Loading world file [/home/leolanqin/catkin_ws_ros2/install/robot_description/share/robot_description/world/empty.world]
[gzserver-1] [Wrn] [ModelDatabase.cc:340] Getting models from[http://models.gazebosim.org/]. This may take a few seconds.
[spawn_entity.py-4] [INFO] [1735199384.730048498] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [Fu_robot]
[gzclient-2] [Msg] Waiting for master.
[gzclient-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-2] [Msg] Publicized address: 192.168.112.128
[gzclient-2] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 224584]
[gzclient-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call

              由于我是在虚拟机上运行的Ubuntu，我想可能和这个原因有关系，希望鱼哥给点建议

              1 条回复 最后回复 回复 引用 0
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