6.5.2章节引入gazebo_ros2_control插件运行ros2 launch fishbot_description gazebo_sim.launch.py会报错[Err] [Model.cc:1160]
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具体报错信息为[Err] [Model.cc:1160] Exception occured in the Load function of plugin with name[gazebo_ros2_control] and filename[libgazebo_ros2_control.so]. This plugin will not run.
[ERROR] [gzserver-2]: process has died [pid 4992, exit code -11, cmd 'gzserver /home/sy/ros2/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[gzserver-2]
不启用这个插件就不会报错，fishbot.ros2_control.xacro中的代码：
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="fishbot_ros2_control">
<ros2_control name="FishBotGazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="left_wheel_joint">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="effort">
<param name="min">-0.1</param>
<param name="max">0.1</param>
</command_interface>
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
<joint name="right_wheel_joint">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="effort">
<param name="min">-0.1</param>
<param name="max">0.1</param>
</command_interface>
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find fishbot_description)/config/fishbot_ros2_controller.yaml</parameters>
</plugin>
</gazebo>
</xacro:macro>
</robot>fishbot_ros2_controller.yaml：
controller_manager:
ros__parameters:
update_rate: 100.0
use_sim_time: true