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    gazebo 加载出来的自定义世界一片漆黑（小鱼课程中的custom_room）

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    gazebo 仿真 humble ignition
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    • M
      mosow
      最后由 编辑

      82cecbce-a0b0-4a07-81cd-ef4dfcb3a072-image.png

      ROS2: Humble
      Arch: Arm64
      Ubuntu: 22.04
      Gazebo Version: Gazebo Fortress

      已经提问过AI，但还是无法解决

      ~/Desktop/mysh ❯ ros2 launch sim_world import_sim_world.launch.py                                                                                                              13:24:47

[INFO] [launch]: All log files can be found below /home/orin/.ros/log/2025-09-11-13-24-51-165552-jetson-1385478

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [ign gazebo-1]: process started with pid [1385506]

[ign gazebo-1] [Wrn] [Conversions.cc:722] <gui><camera> can't be converted yet

[ign gazebo-1] [Dbg] [gz.cc:161] Subscribing to [/gazebo/starting_world].

[ign gazebo-1] [Dbg] [gz.cc:163] Waiting for a world to be set from the GUI...

[ign gazebo-1] [Msg] Received world [/home/orin/ros2_ws/install/sim_world/share/sim_world/worlds/custom_room.world] from the GUI.

[ign gazebo-1] [Dbg] [gz.cc:167] Unsubscribing from [/gazebo/starting_world].

[ign gazebo-1] [Msg] Ignition Gazebo Server v6.17.0

[ign gazebo-1] [Msg] Loading SDF world file[/home/orin/ros2_ws/install/sim_world/share/sim_world/worlds/custom_room.world].

[ign gazebo-1] [Msg] Serving entity system service on [/entity/system/add]

[ign gazebo-1] [Msg] Loaded level [3]

[ign gazebo-1] [Msg] No systems loaded from SDF, loading defaults

[ign gazebo-1] [Dbg] [ServerConfig.cc:1043] Loaded (3) plugins from file [/home/orin/.ignition/gazebo/6/server.config]

[ign gazebo-1] [Dbg] [Physics.cc:804] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/aarch64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so]

[ign gazebo-1] [Dbg] [SystemManager.cc:73] Loaded system [gz::sim::systems::Physics] for entity [1]

[ign gazebo-1] [Msg] Create service on [/world/default/create]

[ign gazebo-1] [Msg] Remove service on [/world/default/remove]

[ign gazebo-1] [Msg] Pose service on [/world/default/set_pose]

[ign gazebo-1] [Msg] Pose service on [/world/default/set_pose_vector]

[ign gazebo-1] [Msg] Light configuration service on [/world/default/light_config]

[ign gazebo-1] [Msg] Physics service on [/world/default/set_physics]

[ign gazebo-1] [Msg] SphericalCoordinates service on [/world/default/set_spherical_coordinates]

[ign gazebo-1] [Msg] Enable collision service on [/world/default/enable_collision]

[ign gazebo-1] [Msg] Disable collision service on [/world/default/disable_collision]

[ign gazebo-1] [Msg] Material service on [/world/default/visual_config]

[ign gazebo-1] [Msg] Material service on [/world/default/wheel_slip]

[ign gazebo-1] [Dbg] [SystemManager.cc:73] Loaded system [gz::sim::systems::UserCommands] for entity [1]

[ign gazebo-1] [Dbg] [SystemManager.cc:73] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]

[ign gazebo-1] [Msg] Serving world controls on [/world/default/control], [/world/default/control/state] and [/world/default/playback/control]

[ign gazebo-1] [Msg] Serving GUI information on [/world/default/gui/info]

[ign gazebo-1] [Msg] World [default] initialized with [default_physics] physics profile.

[ign gazebo-1] [Msg] Serving world SDF generation service on [/world/default/generate_world_sdf]

[ign gazebo-1] [Msg] Serving world names on [/gazebo/worlds]

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:242:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:57:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [Msg] Resource path add service on [/gazebo/resource_paths/add].[Msg] Ignition Gazebo GUI    v6.17.0

[ign gazebo-1] [Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]...

[ign gazebo-1] [Dbg] [Application.cc:92] Initializing application.

[ign gazebo-1] [GUI] [Dbg] [Application.cc:555] Create main window

[ign gazebo-1] [GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]

[ign gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.

[ign gazebo-1] [GUI] [Dbg] [PathManager.cc:55] Received resource paths.

[ign gazebo-1] [GUI] [Dbg] [Gui.cc:391] Requesting GUI from [/world/default/gui/info]...

[ign gazebo-1] [GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/default/state]...

[ign gazebo-1] [GUI] [Msg] Loading config [/home/orin/.ignition/gazebo/6/gui.config]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [MinimalScene]

[ign gazebo-1] [GUI] [Msg] Added plugin [3D View] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libMinimalScene.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [EntityContextMenuPlugin]

[ign gazebo-1] [GUI] [Msg] Added plugin [Entity Context Menu] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityContextMenuPlugin.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [GzSceneManager]

[ign gazebo-1] [GUI] [Msg] Added plugin [Scene Manager] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libGzSceneManager.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [InteractiveViewControl]

[ign gazebo-1] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]

[ign gazebo-1] [GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual]

[ign gazebo-1] [GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity]

[ign gazebo-1] [GUI] [Msg] Added plugin [Interactive view control] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libInteractiveViewControl.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [CameraTracking]

[ign gazebo-1] [GUI] [Msg] Added plugin [Camera tracking] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libCameraTracking.so]

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Spawn/Spawn.qml:32:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [MarkerManager]

[ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/default/stats]

[ign gazebo-1] [GUI] [Msg] Added plugin [Marker Manager] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libMarkerManager.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [SelectEntities]

[ign gazebo-1] [GUI] [Msg] Added plugin [Select entities] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libSelectEntities.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Spawn]

[ign gazebo-1] [GUI] [Msg] Added plugin [Spawn] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libSpawn.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [VisualizationCapabilities]

[ign gazebo-1] [GUI] [Msg] View as transparent service on [/gui/view/transparent]

[ign gazebo-1] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes]

[ign gazebo-1] [GUI] [Msg] View center of mass service on [/gui/view/com]

[ign gazebo-1] [GUI] [Msg] View inertia service on [/gui/view/inertia]

[ign gazebo-1] [GUI] [Msg] View collisions service on [/gui/view/collisions]

[ign gazebo-1] [GUI] [Msg] View joints service on [/gui/view/joints]

[ign gazebo-1] [GUI] [Msg] View frames service on [/gui/view/frames]

[ign gazebo-1] [GUI] [Msg] Added plugin [Visualization capabilities] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libVisualizationCapabilities.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [WorldControl]

[ign gazebo-1] [GUI] [Msg] Using world control service [/world/default/control]

[ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/default/stats]

[ign gazebo-1] [GUI] [Dbg] [WorldControl.cc:246] Using an event to share WorldControl msgs with the server

[ign gazebo-1] [GUI] [Msg] Added plugin [World control] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libWorldControl.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [WorldStats]

[ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/default/stats]

[ign gazebo-1] [GUI] [Msg] Added plugin [World stats] to main window

[ign gazebo-1] [Wrn] [Model.hh:69] [Wrn] [Model.hh:69] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.with //pose/@relative_to attribute.

[ign gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.with //pose/@relative_to attribute.Skipping serialization / deserialization for models with //pose/@relative_to attribute.

[ign gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.

[ign gazebo-1] Skipping serialization / deserialization for models with //pose/@relative_to attribute.

[ign gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have `operator<<`. Component will not be serialized.

[ign gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:104:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:99:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:94:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:89:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have `operator>>`. Component will not be deserialized.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.

[ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libWorldStats.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Shapes]

[ign gazebo-1] [GUI] [Msg] Added plugin [Shapes] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Lights]

[ign gazebo-1] [GUI] [Msg] Added plugin [Lights] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libLights.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [TransformControl]

[ign gazebo-1] [GUI] [Dbg] [TransformControl.cc:222] Legacy mode is disabled; this plugin must be used with MinimalScene.

[ign gazebo-1] [GUI] [Msg] Added plugin [Transform control] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Screenshot]

[ign gazebo-1] [GUI] [Msg] Screenshot service on [/gui/screenshot]

[ign gazebo-1] [GUI] [Msg] Added plugin [Screenshot] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libScreenshot.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [CopyPaste]

[ign gazebo-1] [GUI] [Msg] Added plugin [Copy/Paste] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libCopyPaste.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [ComponentInspector]

[ign gazebo-1] [GUI] [Msg] Added plugin [Component inspector] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libComponentInspector.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [EntityTree]

[ign gazebo-1] [GUI] [Msg] Added plugin [Entity tree] to main window

[ign gazebo-1] [GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityTree.so]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:296] Loading window config

[ign gazebo-1] [GUI] [Msg] Using server control service [/server_control]

[ign gazebo-1] [GUI] [Dbg] [Application.cc:569] Applying config

[ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]

[ign gazebo-1] [GUI] [Dbg] [MinimalScene.cc:602] Create scene [scene]

[ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
      1 条回复 最后回复 回复 引用 0
      • M
        mosow
        最后由 编辑

        Based on the provided SDF file, here is a detailed breakdown of the potential causes for your models appearing black and the steps you can take to fix them.

        原因分析：模型显示为黑色的根本问题

        您提供的 SDF 文件暴露了几个可能导致模型在 Ignition Gazebo 6 中显示为黑色的关键问题。这些问题主要集中在 材质定义 和 场景光照 的配置上。

        1. 材质定义兼容性问题

        您的 ground_plane、room 和 bookshelf 模型都使用了 <material> 标签中的 <script> 属性，并引用了 file://media/materials/scripts/gazebo.material 脚本。

        • 问题所在: Ignition Gazebo 6 不再像 Gazebo Classic 那样自动加载这些旧版 Gazebo 的材质脚本。它需要完整的、绝对的 URI 路径或在本地模型文件夹中找到这些脚本。由于您的文件是从 Gazebo Classic 迁移过来的，Ignition Gazebo 无法找到并解析这些材质，因此模型的渲染会退回到默认的黑色或无光照状态。

        2. 场景光照配置不完整

        您的 SDF 文件中定义了两个光源：sun 和 room_lamp。

        • 问题所在:
          • 光照参数缺失: 在 <light name='sun'> 的定义中，您缺少了 <direction> 标签。一个定向光源必须有方向向量来定义光线从何处射来。尽管在 SDF state 中有 <direction>0 0 -1</direction> 的定义，但在主要的 <light> 标签中却没有。
          • 阴影设置: 在 <scene> 标签中，您将 <shadows> 设置为了 0。这意味着场景中的所有物体都不会投射阴影。虽然这本身不会导致黑色，但它会使场景看起来非常平淡和不真实，因为它没有阴影深度。

        解决方案

        要解决这些问题并让您的模型在 Ignition Gazebo 6 中正确显示，请按照以下步骤修改您的 SDF 文件。

        1. 修复材质引用

        将所有模型的 <material> 标签从引用脚本的方式更改为直接指定颜色。这是确保兼容性和可靠性的最简单方法。

        • 示例:
          找到您所有模型（room, bookshelf, cabinet）中所有 <visual> 下的 <material> 标签。
          将所有类似下面的代码：

          <material>
    <script>
        <uri>file://media/materials/scripts/gazebo.material</uri>
        <name>Gazebo/Grey</name>
    </script>
    <ambient>1 1 1 1</ambient>
</material>

          替换为：

          <material>
    <ambient>0.8 0.8 0.8 1</ambient>
    <diffuse>0.8 0.8 0.8 1</diffuse>
    <specular>0.1 0.1 0.1 1</specular>
</material>

          您可以根据需要调整 ambient, diffuse 和 specular 的 RGBa 值（范围 0 到 1），以获得不同的颜色和光泽度。ambient 控制环境光颜色，diffuse 控制漫反射颜色（物体本身颜色），specular 控制高光颜色。

        2. 修正光照和场景设置

        确保您的光照定义完整且合理。

        • 添加定向光方向: 在 <world> 标签下的 sun 光源定义中，补全 <direction> 标签。

          <light name='sun' type='directional'>
  <cast_shadows>1</cast_shadows>
  <pose>0 0 10 0 -0 0</pose>
  <diffuse>1.0 1.0 1.0 1.0</diffuse>
  <specular>1.0 1.0 1.0 1.0</specular>
  <attenuation>
    <range>1000</range>
    <constant>0.9</constant>
    <linear>0.01</linear>
    <quadratic>0.001</quadratic>
  </attenuation>
  <direction>0.5 0.5 -1</direction>  </light>

        • 启用阴影: 在 <scene> 标签中，将 <shadows> 的值改为 1。

          <scene>
  <ambient>1.0 1.0 1.0 1</ambient>
  <background>0.7 0.7 0.7 1</background>
  <shadows>1</shadows>  </scene>

        3. 检查模型位置和相机视角

        如果上述更改后仍然是黑色，很可能是您的相机视角在房间模型（room）外部，而您添加的 room_lamp 点光源位于房间内部。由于房间的墙壁是实体，它会阻挡光线。

        • 确认相机位置: 在 Ignition Gazebo 中，你可以使用鼠标和键盘移动相机视角，进入房间内部查看。

        通过这些修改，您应该能够解决模型在 Ignition Gazebo 6 中显示为黑色的问题。 Ignition Gazebo 对 SDF 文件的要求更严格，尤其是在光照和材质引用方面。

        75e40d77-d37b-481f-942f-d2a98e9b8405-image.png

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