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    通过launch启动gazebo报如下错误： [Err] [Visual.cc:2956] No mesh specified

    已定时 已固定 已锁定 已移动
    ROS 2相关问题
    gazebo launch meshes
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    • ls3470319318L
      ls3470319318
      最后由 编辑

      urdf文件是一个六连杆并联机构
      部分报错内容如下：

       [Err] [Visual.cc:2956] No mesh specified
[gzclient-3] [Wrn] [FuelModelDatabase.cc:313] URI not supported by Fuel [model://fishbot_description/meshes/top_link6.STL]
[gzclient-3] [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://fishbot_description/meshes/top_link6.STL]
[gzclient-3] [Wrn] [FuelModelDatabase.cc:313] URI not supported by Fuel [model://fishbot_description/meshes/top_link5.STL]
[gzclient-3] [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://fishbot_description/meshes/top_link5.STL]

      询问AI得到的回答是找不到mesh文件，但是我的目录下所有stl文件均存在

      liushuang@liushuang:~/ros2bookcode/stewart.1/chapt6_ws/src/fishbot_description/meshes$ ls
base_link.STL  link2.STL  link4.STL  link6.STL  pr2.STL  pr4.STL  pr6.STL        top_link2.STL  top_link4.STL  top_link6.STL
link1.STL      link3.STL  link5.STL  pr1.STL    pr3.STL  pr5.STL  top_link1.STL  top_link3.STL  top_link5.STL

      部分日志内容如下：

      [0.039s] Invoking command in '/home/liushuang/ros2bookcode/stewart.1/chapt6_ws/build/fishbot_description': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/src/fishbot_description -DCMAKE_INSTALL_PREFIX=/home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description
[0.283s] -- The C compiler identification is GNU 11.4.0
[0.485s] -- The CXX compiler identification is GNU 11.4.0
[0.506s] -- Detecting C compiler ABI info
[0.821s] -- Detecting C compiler ABI info - done
[0.836s] -- Check for working C compiler: /usr/bin/cc - skipped
[0.837s] -- Detecting C compile features
[0.837s] -- Detecting C compile features - done
[0.846s] -- Detecting CXX compiler ABI info
[1.173s] -- Detecting CXX compiler ABI info - done
[1.196s] -- Check for working CXX compiler: /usr/bin/c++ - skipped
[1.196s] -- Detecting CXX compile features
[1.197s] -- Detecting CXX compile features - done
[1.202s] -- Found ament_cmake: 1.3.10 (/opt/ros/humble/share/ament_cmake/cmake)
[1.684s] -- Found Python3: /usr/local/bin/python3 (found version "3.10.12") found components: Interpreter 
[1.973s] -- Found ament_lint_auto: 0.12.11 (/opt/ros/humble/share/ament_lint_auto/cmake)
[2.206s] -- Added test 'flake8' to check Python code syntax and style conventions
[2.209s] -- Added test 'lint_cmake' to check CMake code style
[2.212s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257
[2.221s] -- Added test 'xmllint' to check XML markup files
[2.222s] -- Configuring done
[2.241s] -- Generating done
[2.241s] -- Build files have been written to: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/build/fishbot_description
[2.246s] Invoked command in '/home/liushuang/ros2bookcode/stewart.1/chapt6_ws/build/fishbot_description' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/src/fishbot_description -DCMAKE_INSTALL_PREFIX=/home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description
[2.247s] Invoking command in '/home/liushuang/ros2bookcode/stewart.1/chapt6_ws/build/fishbot_description': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/build/fishbot_description -- -j16 -l16
[2.364s] Invoked command in '/home/liushuang/ros2bookcode/stewart.1/chapt6_ws/build/fishbot_description' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/build/fishbot_description -- -j16 -l16
[2.397s] Invoking command in '/home/liushuang/ros2bookcode/stewart.1/chapt6_ws/build/fishbot_description': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --install /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/build/fishbot_description
[2.424s] -- Install configuration: ""
[2.424s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/launch
[2.424s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/launch/gazebo_sim.launch.py
[2.424s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/launch/__pycache__
[2.425s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/launch/__pycache__/display_robot.launch.cpython-310.pyc
[2.425s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/launch/display_robot.launch.py
[2.425s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf
[2.425s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot
[2.425s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.ros2_control.xacro
[2.426s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf
[2.426s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/plugins
[2.428s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/plugins/gazebo_control_plugin.xacro
[2.428s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/plugins/gazebo_sensor_plugin.xacro
[2.428s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/actuator
[2.429s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/actuator/caster.urdf.xacro
[2.431s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/actuator/wheel.urdf.xacro
[2.431s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/base.urdf.xacro
[2.432s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/sensor
[2.433s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/sensor/imu.urdf.xacro
[2.433s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/sensor/laser.urdf.xacro
[2.435s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/sensor/camera.urdf.xacro
[2.435s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/common_inertia.xacro
[2.436s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/first_robot.urdf
[2.436s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/config
[2.437s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml
[2.437s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/config/display_robot_model.rviz
[2.438s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/world
[2.440s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/world/room
[2.442s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/world/room/model.sdf
[2.452s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/world/room/model.config
[2.453s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world
[2.453s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes
[2.454s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/link6.STL
[2.455s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/pr1.STL
[2.462s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/link2.STL
[2.465s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/pr6.STL
[2.465s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/pr2.STL
[2.469s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/link3.STL
[2.469s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/top_link1.STL
[2.470s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/top_link5.STL
[2.470s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/link5.STL
[2.471s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/pr5.STL
[2.471s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/link4.STL
[2.471s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/link1.STL
[2.471s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/pr3.STL
[2.473s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/top_link4.STL
[2.474s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/top_link3.STL
[2.474s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/top_link6.STL
[2.474s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/base_link.STL
[2.475s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/top_link2.STL
[2.475s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/meshes/pr4.STL
[2.477s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/ament_index/resource_index/package_run_dependencies/fishbot_description
[2.478s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/ament_index/resource_index/parent_prefix_path/fishbot_description
[2.478s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/environment/ament_prefix_path.sh
[2.479s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/environment/ament_prefix_path.dsv
[2.480s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/environment/path.sh
[2.480s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/environment/path.dsv
[2.481s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/local_setup.bash
[2.481s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/local_setup.sh
[2.484s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/local_setup.zsh
[2.484s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/local_setup.dsv
[2.484s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/package.dsv
[2.484s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/ament_index/resource_index/packages/fishbot_description
[2.485s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/cmake/fishbot_descriptionConfig.cmake
[2.485s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/cmake/fishbot_descriptionConfig-version.cmake
[2.485s] -- Installing: /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/install/fishbot_description/share/fishbot_description/package.xml
[2.530s] Invoked command in '/home/liushuang/ros2bookcode/stewart.1/chapt6_ws/build/fishbot_description' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --install /home/liushuang/ros2bookcode/stewart.1/chapt6_ws/build/fishbot_description
      1 条回复 最后回复 回复 引用 0
      • ls3470319318L
        ls3470319318
        最后由 编辑

        原因·：对于mesh文件（dae、stl），gazebo那边识别不了 package://claw_description 这种ros系统的路径查找方式（尝试运行的话，gazebo直接卡在那里），只能用 $(find claw_description)这种方式找到绝对路径并替换。

        1 条回复 最后回复 回复 引用 0
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