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    在chapter6的gazebo_sim.launch.py文件运行时报错，好像是gzclient打不开，gazebo也崩溃了

    已定时 已固定 已锁定 已移动 未解决
    ROS 2相关问题
    gzclient gazebo崩溃
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    • 1
      1164894579
      最后由 编辑

      指令$ ros2 launch robot_description gazebo_sim.launch.py
      结果：
      [INFO] [launch]: All log files can be found below /home/wang/.ros/log/2025-02-05-21-11-13-932937-wang-virtual-machine-3572
      [INFO] [launch]: Default logging verbosity is set to INFO
      [INFO] [robot_state_publisher-1]: process started with pid [3574]
      [INFO] [gzserver-2]: process started with pid [3576]
      [INFO] [gzclient-3]: process started with pid [3578]
      [INFO] [spawn_entity.py-4]: process started with pid [3580]
      [robot_state_publisher-1] [INFO] [1738761074.465208698] [robot_state_publisher]: got segment back_caster_link
      [robot_state_publisher-1] [INFO] [1738761074.465372962] [robot_state_publisher]: got segment base_footprint
      [robot_state_publisher-1] [INFO] [1738761074.465381068] [robot_state_publisher]: got segment base_link
      [robot_state_publisher-1] [INFO] [1738761074.465386809] [robot_state_publisher]: got segment camera_link
      [robot_state_publisher-1] [INFO] [1738761074.465408091] [robot_state_publisher]: got segment front_caster_link
      [robot_state_publisher-1] [INFO] [1738761074.465413021] [robot_state_publisher]: got segment imu_link
      [robot_state_publisher-1] [INFO] [1738761074.465416979] [robot_state_publisher]: got segment laser_cylinder_link
      [robot_state_publisher-1] [INFO] [1738761074.465420826] [robot_state_publisher]: got segment laser_link
      [robot_state_publisher-1] [INFO] [1738761074.465424393] [robot_state_publisher]: got segment left_wheel_link
      [robot_state_publisher-1] [INFO] [1738761074.465428121] [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] [1738761074.757372182] [spawn_entity]: Spawn Entity started
      [spawn_entity.py-4] [INFO] [1738761074.757749235] [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] [1738761074.759794482] [spawn_entity]: Waiting for entity xml on /robot_description
      [spawn_entity.py-4] [INFO] [1738761074.773813422] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
      [spawn_entity.py-4] [INFO] [1738761074.774110207] [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: 192.168.248.128
      [gzserver-2] [Err] [RTShaderSystem.cc:480] Unable to find shader lib. Shader generating will fail. Your GAZEBO_RESOURCE_PATH is probably improperly set. Have you sourced <prefix>/share/gazebo/setup.bash?
      [spawn_entity.py-4] [INFO] [1738761075.530248963] [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: 192.168.248.128
      [gzclient-3] [Err] [RTShaderSystem.cc:480] Unable to find shader lib. Shader generating will fail. Your GAZEBO_RESOURCE_PATH is probably improperly set. Have you sourced <prefix>/share/gazebo/setup.bash?
      [gzclient-3] [Wrn] [GuiIface.cc:120] QSocketNotifier: Can only be used with threads started with QThread
      [spawn_entity.py-4] [INFO] [1738761075.772798805] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [Wrobot]
      [gzserver-2] [INFO] [1738761075.787871804] [diff_drive]: Wheel pair 1 separation set to [0.200000m]
      [gzserver-2] [INFO] [1738761075.788372420] [diff_drive]: Wheel pair 1 diameter set to [0.064000m]
      [gzserver-2] [INFO] [1738761075.789731446] [diff_drive]: Subscribed to [/cmd_vel]
      [gzserver-2] [INFO] [1738761075.792849377] [diff_drive]: Advertise odometry on [/odom]
      [gzserver-2] [INFO] [1738761075.795760529] [diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
      [gzserver-2] [INFO] [1738761075.795813804] [diff_drive]: Publishing wheel transforms between [base_footprint], [left_wheel_joint] and [right_wheel_joint]
      [gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/.gazebo/models/wp_map_tools"
      [gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/.gazebo/models/wpr_simulation2"
      [gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/chapter6/chapter6_ws/src/robot_description/config"
      [gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/chapter6/chapter6_ws/src/robot_description/include"
      [gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/chapter6/chapter6_ws/src/robot_description/launch"
      [gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/chapter6/chapter6_ws/src/robot_description/src"
      [gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/chapter6/chapter6_ws/src/robot_description/urdf"
      [gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/chapter6/chapter6_ws/src/robot_description/world"
      [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 3580]
      [gzclient-3] [Err] [RenderEngine.cc:197] Failed to initialize scene
      [gzclient-3] [Err] [GLWidget.cc:177] GLWidget could not create a scene. This will likely result in a blank screen.
      [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 3578, 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

        从您提供的日志信息来看，有几个关键问题导致了 gzclient 无法正常启动并崩溃：

        1. Shader 库找不到：

          [gzserver-2] [Err] [RTShaderSystem.cc:480] Unable to find shader lib. Shader generating will fail. Your GAZEBO_RESOURCE_PATH is probably improperly set. Have you sourced <prefix>/share/gazebo/setup.bash?
[gzclient-3] [Err] [RTShaderSystem.cc:480] Unable to find shader lib. Shader generating will fail. Your GAZEBO_RESOURCE_PATH is probably improperly set. Have you sourced <prefix>/share/gazebo/setup.bash?

          这通常意味着 GAZEBO_RESOURCE_PATH 环境变量没有正确设置，或者相关的资源文件没有正确安装。您需要确保已经正确安装了 Gazebo，并且环境变量设置正确。通常，您需要在终端中运行以下命令来设置环境变量：

          source /opt/ros/humble/setup.bash
source /opt/ros/humble/local/share/gazebo/setup.bash

          这些路径可能因您的安装方式和位置而异，请根据实际情况调整。

        2. 模型配置文件缺失：

          [gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/.gazebo/models/wp_map_tools"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/.gazebo/models/wpr_simulation2"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/chapter6/chapter6_ws/src/robot_description/config"
...

          这些错误表明 Gazebo 试图加载一些模型，但找不到它们的配置文件。这可能是因为这些模型没有被正确安装或者路径指向了错误的位置。检查您的 URDF 或世界文件中引用的模型路径是否正确，并确保这些模型存在于指定的路径中。

        3. 渲染窗口创建失败：

          [gzclient-3] [Err] [RenderEngine.cc:197] Failed to initialize scene
[gzclient-3] [Err] [GLWidget.cc:177] GLWidget could not create a scene. This will likely result in a blank screen.
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
...
[gzclient-3] terminate called after throwing an instance of 'gazebo::common::Exception'

          这通常与图形驱动或 OpenGL 设置有关。确保您的系统支持 OpenGL，并且图形驱动是最新的。此外，检查是否有任何图形相关的错误或警告信息在终端输出。

        解决步骤：

        1. 重新检查并设置环境变量：
          确保所有相关的 ROS 和 Gazebo 环境变量都已正确设置。

        2. 验证模型路径：
          检查您的 URDF 和世界文件，确保所有引用的模型路径都是正确的。如果模型是自定义的，确保它们已经被正确安装和配置。

        3. 更新图形驱动：
          确保您的图形驱动是最新的，并且与您的操作系统和硬件兼容。

        4. 重新运行 Gazebo：
          在解决了上述问题后，尝试重新运行您的 Gazebo 启动文件。

        如果问题仍然存在，您可能需要更详细地检查 Gazebo 的配置文件或寻求社区的帮助。

        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 1 条回复 最后回复 回复 引用 0
        • 1
          1164894579 @小伊
          最后由 编辑

          @小伊
          输入
          gazebo
          输出
          context mismatch in svga_surface_destroy
          context mismatch in svga_surface_destroy

          这又是什么问题

          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

            您提到的输入“gazebo”和输出“context mismatch in svga_surface_destroy”之间似乎没有直接的关联。这里分别解释一下这两个概念，并尝试分析可能的背景或原因。

            Gazebo

            Gazebo 是一个开源的机器人模拟器，广泛用于机器人系统、无人驾驶汽车、无人机等领域的开发和测试。它提供了一个高保真度的物理仿真环境，允许开发者在虚拟环境中测试他们的机器人算法和控制系统。

            svga_surface_destroy 和 Context Mismatch

            • svga_surface_destroy 可能是指在使用 SVGA（一种图形加速技术或库）时，用于销毁或释放图形表面的函数。这种技术或库通常用于图形渲染，尤其是在游戏或复杂图形应用中。
            • Context Mismatch 错误通常发生在图形上下文（OpenGL、Vulkan等图形API中的渲染上下文）被错误管理时。例如，尝试在一个渲染上下文中创建的对象上执行另一个上下文的操作，或者在销毁对象后仍然尝试使用它。

            可能的问题背景

            如果您在使用 Gazebo 的过程中遇到了 “context mismatch in svga_surface_destroy” 的错误，这可能意味着 Gazebo 在尝试管理或渲染图形时遇到了问题。可能的原因包括：

            1. 图形驱动问题：您的图形驱动可能不兼容或过时，导致 Gazebo 无法正确管理图形资源。
            2. 多GPU环境：如果您的系统有多个GPU，并且 Gazebo 或其依赖的图形库没有正确处理这种情况，可能会出现上下文不匹配的错误。
            3. 软件或库版本冲突：安装的某个库或软件可能与 Gazebo 不兼容，特别是在图形渲染方面。

            解决步骤

            1. 更新图形驱动：确保您的图形驱动是最新的，并且与您的硬件和操作系统兼容。
            2. 检查 Gazebo 和依赖库的版本：确保您安装的 Gazebo 和所有相关依赖库都是最新版本，或者至少是彼此兼容的版本。
            3. 单GPU运行：如果可能，尝试在只有一个GPU的环境中运行 Gazebo，看看问题是否仍然存在。
            4. 查看日志和错误报告：更详细地查看 Gazebo 的日志文件和系统错误报告，以获取更多关于何时何地发生错误的线索。
            5. 寻求社区帮助：如果问题仍然存在，考虑在 Gazebo 的用户论坛或社区中寻求帮助，那里可能有其他开发者遇到过类似的问题。

            希望这些信息对您有所帮助！如果还有其他具体的问题或错误日志，请提供更多信息以便进一步分析。

            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
            • H
              haile.huang
              最后由 编辑

              ros2@ros2-virtual-machine:~/gazebo7/gazebo7_ws$ ros2 launch fishbot_description gazebo_sim.launch.py
              [INFO] [launch]: All log files can be found below /home/ros2/.ros/log/2025-04-07-23-46-46-340059-ros2-virtual-machine-3547
              [INFO] [launch]: Default logging verbosity is set to INFO
              [INFO] [robot_state_publisher-1]: process started with pid [3552]
              [INFO] [gzserver-2]: process started with pid [3554]
              [INFO] [gzclient-3]: process started with pid [3556]
              [INFO] [spawn_entity.py-4]: process started with pid [3558]
              [robot_state_publisher-1] [INFO] [1744040807.377159369] [robot_state_publisher]: got segment back_caster_link
              [robot_state_publisher-1] [INFO] [1744040807.377316455] [robot_state_publisher]: got segment base_footprint
              [robot_state_publisher-1] [INFO] [1744040807.377330418] [robot_state_publisher]: got segment base_link
              [robot_state_publisher-1] [INFO] [1744040807.377335661] [robot_state_publisher]: got segment camera_link
              [robot_state_publisher-1] [INFO] [1744040807.377342463] [robot_state_publisher]: got segment camera_optical_link
              [robot_state_publisher-1] [INFO] [1744040807.377346971] [robot_state_publisher]: got segment front_caster_link
              [robot_state_publisher-1] [INFO] [1744040807.377351362] [robot_state_publisher]: got segment imu_link
              [robot_state_publisher-1] [INFO] [1744040807.377355076] [robot_state_publisher]: got segment laser_cylinder_link
              [robot_state_publisher-1] [INFO] [1744040807.377361287] [robot_state_publisher]: got segment laser_link
              [robot_state_publisher-1] [INFO] [1744040807.377365427] [robot_state_publisher]: got segment left_wheel_link
              [robot_state_publisher-1] [INFO] [1744040807.377369403] [robot_state_publisher]: got segment right_wheel_link
              [spawn_entity.py-4] [INFO] [1744040807.856921505] [spawn_entity]: Spawn Entity started
              [spawn_entity.py-4] [INFO] [1744040807.857448486] [spawn_entity]: Loading entity published on topic /robot_description
              [spawn_entity.py-4] [INFO] [1744040807.871811460] [spawn_entity]: Waiting for entity xml on /robot_description
              [spawn_entity.py-4] [INFO] [1744040807.894062623] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
              [spawn_entity.py-4] [INFO] [1744040807.894447124] [spawn_entity]: Waiting for service /spawn_entity
              [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]
              [gzserver-2] [Wrn] [gazebo_ros_init.cpp:178]
              [gzserver-2] # # ####### ####### ### ##### #######
              [gzserver-2] ## # # # # # # # #
              [gzserver-2] # # # # # # # # #
              [gzserver-2] # # # # # # # # #####
              [gzserver-2] # # # # # # # # #
              [gzserver-2] # ## # # # # # # #
              [gzserver-2] # # ####### # ### ##### #######
              [gzserver-2]
              [gzserver-2] This version of Gazebo, now called Gazebo classic, reaches end-of-life
              [gzserver-2] in January 2025. Users are highly encouraged to migrate to the new Gazebo
              [gzserver-2] using our migration guides (https://gazebosim.org/docs/latest/gazebo_classic_migration?utm_source=gazebo_ros_pkgs&utm_medium=cli)
              [gzserver-2]
              [gzserver-2]
              [gzclient-3] [Msg] Waiting for master.
              [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
              [gzclient-3] [Msg] Publicized address: 172.21.73.71
              [gzclient-3] [Wrn] [GuiIface.cc:120] QSocketNotifier: Can only be used with threads started with QThread
              [spawn_entity.py-4] [INFO] [1744040810.232075284] [spawn_entity]: Calling service /spawn_entity
              [gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
              [gzserver-2] [Msg] Waiting for master.
              [gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
              [gzserver-2] [Msg] Publicized address: 172.21.73.71
              [gzserver-2] [Msg] Loading world file [/home/ros2/gazebo7/gazebo7_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
              [gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
              [gzserver-2] [INFO] [1744040811.065571074] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info]
              [gzserver-2] [INFO] [1744040811.066522094] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info]
              [gzserver-2] [INFO] [1744040811.066926896] [depth_camera]: Publishing pointcloud to [/camera_sensor/points]
              [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'
              [spawn_entity.py-4] [INFO] [1744040811.432639054] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
              [gzserver-2] [INFO] [1744040811.571190276] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
              [gzserver-2] [INFO] [1744040811.582191083] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
              [gzserver-2] [INFO] [1744040811.582267983] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
              [gzserver-2] [INFO] [1744040811.594804268] [gazebo_ros2_control]: connected to service!! robot_state_publisher
              [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 3558]
              [gzserver-2] [INFO] [1744040811.598949066] [gazebo_ros2_control]: Received urdf from param server, parsing...
              [gzserver-2] [INFO] [1744040811.599012201] [gazebo_ros2_control]: Loading parameter files /home/ros2/gazebo7/gazebo7_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml
              [INFO] [ros2-5]: process started with pid [3689]
              [gzserver-2] [INFO] [1744040811.623055913] [gazebo_ros2_control]: Loading joint: left_wheel_joint
              [gzserver-2] [INFO] [1744040811.623122339] [gazebo_ros2_control]: State:
              [gzserver-2] [INFO] [1744040811.623132355] [gazebo_ros2_control]: position
              [gzserver-2] [INFO] [1744040811.623139197] [gazebo_ros2_control]: velocity
              [gzserver-2] [INFO] [1744040811.623144468] [gazebo_ros2_control]: effort
              [gzserver-2] [INFO] [1744040811.623153684] [gazebo_ros2_control]: Command:
              [gzserver-2] [INFO] [1744040811.623774784] [gazebo_ros2_control]: velocity
              [gzserver-2] [INFO] [1744040811.624008631] [gazebo_ros2_control]: effort
              [gzserver-2] [INFO] [1744040811.624028777] [gazebo_ros2_control]: Loading joint: right_wheel_joint
              [gzserver-2] [INFO] [1744040811.624035477] [gazebo_ros2_control]: State:
              [gzserver-2] [INFO] [1744040811.624040860] [gazebo_ros2_control]: position
              [gzserver-2] [INFO] [1744040811.624049887] [gazebo_ros2_control]: velocity
              [gzserver-2] [INFO] [1744040811.624055967] [gazebo_ros2_control]: effort
              [gzserver-2] [INFO] [1744040811.624060962] [gazebo_ros2_control]: Command:
              [gzserver-2] [INFO] [1744040811.624069363] [gazebo_ros2_control]: velocity
              [gzserver-2] [INFO] [1744040811.624195869] [gazebo_ros2_control]: effort
              [gzserver-2] [INFO] [1744040811.624252902] [resource_manager]: Initialize hardware 'FishBotGazeboSystem'
              [gzserver-2] [INFO] [1744040811.624399908] [resource_manager]: Successful initialization of hardware 'FishBotGazeboSystem'
              [gzserver-2] [INFO] [1744040811.624490014] [resource_manager]: 'configure' hardware 'FishBotGazeboSystem'
              [gzserver-2] [INFO] [1744040811.624500280] [resource_manager]: Successful 'configure' of hardware 'FishBotGazeboSystem'
              [gzserver-2] [INFO] [1744040811.624505277] [resource_manager]: 'activate' hardware 'FishBotGazeboSystem'
              [gzserver-2] [INFO] [1744040811.624509810] [resource_manager]: Successful 'activate' of hardware 'FishBotGazeboSystem'
              [gzserver-2] [INFO] [1744040811.625969242] [gazebo_ros2_control]: Loading controller_manager
              [gzserver-2] [WARN] [1744040811.697825097] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
              [gzserver-2] [INFO] [1744040811.698014270] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
              [ERROR] [gzclient-3]: process has died [pid 3556, exit code -6, cmd 'gzclient --gui-client-plugin=libgazebo_ros_eol_gui.so --verbose'].
              [gzclient-3]
              [gzserver-2] [INFO] [1744040812.658632607] [controller_manager]: Loading controller 'fishbot_joint_state_broadcaster'
              [gzserver-2] [INFO] [1744040812.699560842] [controller_manager]: Configuring controller 'fishbot_joint_state_broadcaster'
              [gzserver-2] [INFO] [1744040812.700391520] [fishbot_joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
              [ros2-5] Successfully loaded controller fishbot_joint_state_broadcaster into state active
              [INFO] [ros2-5]: process has finished cleanly [pid 3689]
              [INFO] [ros2-6]: process started with pid [3731]
              [ros2-6] [INFO] [1744040813.862104856] [_ros2cli_3731]: waiting for service /controller_manager/load_controller to become available...
              [gzserver-2] [INFO] [1744040815.114848376] [controller_manager]: Loading controller 'fishbot_diff_drive_controller'
              [gzserver-2] [INFO] [1744040815.156646427] [controller_manager]: Configuring controller 'fishbot_diff_drive_controller'
              [ros2-6] Successfully loaded controller fishbot_diff_drive_controller into state active
              [INFO] [ros2-6]: process has finished cleanly [pid 3731]
              [gzserver-2] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
              请问这个报错怎么解决呢

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