gazebo启动一直显示有实体，日志里很多功能没加载出来

rcy1111

我的gazebo启动时一直说已经有实体，但是我都已经关闭了，
rcy@rcy-virtual-machine:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py
[INFO] [launch]: All log files can be found below /home/rcy/.ros/log/2025-01-24-19-40-11-766850-rcy-virtual-machine-11533
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [11552]
[INFO] [gzserver-2]: process started with pid [11554]
[INFO] [gzclient-3]: process started with pid [11556]
[INFO] [spawn_entity.py-4]: process started with pid [11558]
[robot_state_publisher-1] [INFO] [1737718813.932818485] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1737718813.933088014] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1737718813.933116555] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1737718813.933135822] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1737718813.933153335] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1737718813.933170837] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1737718813.933187460] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1737718813.933204555] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1737718813.933222793] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1737718813.933239346] [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] [1737718815.307000169] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1737718815.310744357] [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] [1737718815.318692517] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1737718815.337565018] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1737718815.338827251] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1737718817.614090479] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-4] [INFO] [1737718817.799042258] [spawn_entity]: Spawn status: Entity [fishbot] already exists.
[spawn_entity.py-4] [ERROR] [1737718817.801088800] [spawn_entity]: Spawn service failed. Exiting.
[ERROR] [spawn_entity.py-4]: process has died [pid 11558, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -topic /robot_description -entity fishbot --ros-args'].
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345这是我的launch运行的日志，我有很多功能都没加载出来，
你可以看下我的fishbot.urdf.xacro文件
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fishbot">
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/base.urdf.xacro" />

<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/imu.urdf.xacro" />
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/laser.urdf.xacro" />
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/camera.urdf.xacro" />

<xacro:include filename="$(find fishbot_description)/urdf/fishbot/actuator/wheel.urdf.xacro" />
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/actuator/caster.urdf.xacro" />

<xacro:base_xacro length="0.12" radius="0.1" />
<!-- 传感器 -->
<xacro:imu_xacro xyz="0 0 0.02" />
<xacro:laser_xacro xyz="0 0 0.10" />
<xacro:camera_xacro xyz="0.10 0 0.075" />
<!-- 执行器主动轮+从动轮 -->
<xacro:wheel_xacro wheel_name="left" xyz="0 0.10 -0.06" />
<xacro:wheel_xacro wheel_name="right" xyz="0 -0.10 -0.06" />
<xacro:caster_xacro caster_name="front" xyz="0.08 0.0 -0.076" />
<xacro:caster_xacro caster_name="back" xyz="-0.08 0.0 -0.076" />
<!-- Gazebo 插件 -->
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/plugins/gazebo_control_plugin.xacro" />
<!-- <xacro:gazebo_control_plugin /> -->
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/fishbot.ros2_control.xacro" />
<xacro:fishbot_ros2_control />
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/plugins/gazebo_sensor_plugin.xacro" />
<xacro:gazebo_sensor_plugin />

</robot>
还有我的这些启动日志显示很多我fishbot.urdf.xacro里面的很多功能都没加载出来<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fishbot">
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/base.urdf.xacro" />

<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/imu.urdf.xacro" />
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/laser.urdf.xacro" />
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/camera.urdf.xacro" />

<xacro:include filename="$(find fishbot_description)/urdf/fishbot/actuator/wheel.urdf.xacro" />
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/actuator/caster.urdf.xacro" />

<xacro:base_xacro length="0.12" radius="0.1" />
<!-- 传感器 -->
<xacro:imu_xacro xyz="0 0 0.02" />
<xacro:laser_xacro xyz="0 0 0.10" />
<xacro:camera_xacro xyz="0.10 0 0.075" />
<!-- 执行器主动轮+从动轮 -->
<xacro:wheel_xacro wheel_name="left" xyz="0 0.10 -0.06" />
<xacro:wheel_xacro wheel_name="right" xyz="0 -0.10 -0.06" />
<xacro:caster_xacro caster_name="front" xyz="0.08 0.0 -0.076" />
<xacro:caster_xacro caster_name="back" xyz="-0.08 0.0 -0.076" />
<!-- Gazebo 插件 -->
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/plugins/gazebo_control_plugin.xacro" />
<!-- <xacro:gazebo_control_plugin /> -->
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/fishbot.ros2_control.xacro" />
<xacro:fishbot_ros2_control />
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/plugins/gazebo_sensor_plugin.xacro" />
<xacro:gazebo_sensor_plugin />

</robot>

机器人小伊

从您提供的日志和URDF文件来看，有几个关键点需要注意来解决您遇到的问题：

实体已存在错误：
日志中显示 "Spawn status: Entity [fishbot] already exists." 这意味着当您尝试启动仿真时，Gazebo中已有一个名为 fishbot 的实体存在。这通常发生在之前启动的Gazebo实例没有正确关闭，或者某个进程仍在后台运行。

解决方案：
- 确保在重新启动仿真前关闭所有Gazebo相关的进程。您可以使用命令如 pkill gzserver 和 pkill gzclient 来强制关闭这些进程。
- 检查是否有任何残留的ROS节点或话题可能仍在发布 /robot_description。您可以使用 ros2 node list 和 ros2 topic list 来查看当前活动的节点和话题。
URDF文件加载：
从您的URDF文件来看，您包含了多个组件和插件。如果Gazebo正确加载了URDF，它应该能够识别并模拟这些组件。但是，由于出现了实体已存在的错误，可能URDF文件根本没有被完整加载。

解决方案：
- 确保您的URDF文件路径和包含的文件路径都是正确的。
- 使用 xacro 工具检查URDF文件是否有语法错误。您可以在命令行中运行 xacro fishbot.urdf.xacro 来查看解析后的URDF，确保它看起来正确无误。
插件和功能未加载：
如果URDF文件正确加载，但某些功能（如传感器或控制插件）未显示，可能是因为相关的Gazebo插件没有正确配置或加载。

解决方案：
- 检查您的Gazebo插件是否正确安装，并且它们的路径在环境变量中正确设置。
- 查看Gazebo的日志文件（通常位于 ~/.gazebo/logs/），可能会有更详细的错误信息关于为什么插件没有加载。
重新启动和清理：
在解决了上述问题后，尝试完全重新启动您的ROS2和Gazebo环境，以确保所有设置都是最新的，并且没有残留的状态影响新的仿真。
检查ROS2参数和服务：
确保 /spawn_entity 服务可用，并且没有其他节点正在尝试同时使用该服务。您可以使用 ros2 service list 查看当前可用的服务。

通过上述步骤，您应该能够诊断并解决问题。如果问题仍然存在，可能需要更详细地检查您的ROS2包和Gazebo配置。

以上为生成回答，仅供参考～