gazebo仿真的摄像头在rviz上no image
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我想要做一个rov水下机器人，现在jetson orin nano上的ubuntu22.04用ros2做一个yolov8的目标检测并打算用gazebo（Gazebo sim,version 7.0.0）仿真一个摄像头并用rviz可视化出来，但是却显示no image，请问该怎么解决？
其中运行结果：
[INFO] [launch]: All log files can be found below /home/tywh/.ros/log/2025-10-18-21-06-27-844576-tywh-desktop-3747
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [3748]
[INFO] [robot_state_publisher-2]: process started with pid [3750]
[INFO] [rviz2-3]: process started with pid [3753]
[robot_state_publisher-2] [WARN] [1760792788.712707421] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-2] [INFO] [1760792788.713058809] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1760792788.713289334] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-2] [INFO] [1760792788.713314518] [robot_state_publisher]: got segment led_light
[robot_state_publisher-2] [INFO] [1760792788.713331061] [robot_state_publisher]: got segment thruster_left
[robot_state_publisher-2] [INFO] [1760792788.713343317] [robot_state_publisher]: got segment thruster_right
[robot_state_publisher-2] [INFO] [1760792788.713353589] [robot_state_publisher]: got segment thruster_vertical
[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/tywh/my_ros2_ws/install/yolo_detector_pkg/share/yolo_detector_pkg/worlds/underwater_simulation.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/tywh/my_ros2_ws/install/yolo_detector_pkg/share/yolo_detector_pkg/worlds/underwater_simulation.world].
[ign gazebo-1] [Msg] Serving entity system service on [/entity/system/add]
[ign gazebo-1] [Dbg] [Sensors.cc:506] Configuring Sensors system
[ign gazebo-1] [Dbg] [Sensors.cc:431] SensorsPrivate::Run
[ign gazebo-1] [Dbg] [SystemManager.cc:73] Loaded system [gz::sim::systems::Sensors] for entity [1]
[ign gazebo-1] [Dbg] [Sensors.cc:411] SensorsPrivate::RenderThread started
[ign gazebo-1] [Dbg] [Sensors.cc:258] Waiting for init
[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/underwater_world/create]
[ign gazebo-1] [Msg] Remove service on [/world/underwater_world/remove]
[ign gazebo-1] [Msg] Pose service on [/world/underwater_world/set_pose]
[ign gazebo-1] [Msg] Pose service on [/world/underwater_world/set_pose_vector]
[ign gazebo-1] [Msg] Light configuration service on [/world/underwater_world/light_config]
[ign gazebo-1] [Msg] Physics service on [/world/underwater_world/set_physics]
[ign gazebo-1] [Msg] SphericalCoordinates service on [/world/underwater_world/set_spherical_coordinates]
[ign gazebo-1] [Msg] Enable collision service on [/world/underwater_world/enable_collision]
[ign gazebo-1] [Msg] Disable collision service on [/world/underwater_world/disable_collision]
[ign gazebo-1] [Msg] Material service on [/world/underwater_world/visual_config]
[ign gazebo-1] [Msg] Material service on [/world/underwater_world/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] [Dbg] [SystemManager.cc:73] Loaded system [gz::sim::systems::Buoyancy] for entity [1]
[ign gazebo-1] [Msg] Loaded level [3]
[ign gazebo-1] [Msg] Serving world controls on [/world/underwater_world/control], [/world/underwater_world/control/state] and [/world/underwater_world/playback/control]
[rviz2-3] [INFO] [1760792789.761207054] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1760792789.761688776] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] [INFO] [1760792789.820851852] [rviz2]: Stereo is NOT SUPPORTED
[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>) { ... }
[rviz2-3] [INFO] [1760792790.276464269] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1760792790.300996972] [rviz2]: Stereo is NOT SUPPORTED
[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] Serving GUI information on [/world/underwater_world[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/underwater_world/gui/info]...
[ign gazebo-1] [GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/underwater_world/state]...
[ign gazebo-1] [GUI] [Msg] Loading config [/home/tywh/.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] [Err] [Buoyancy.cc:432] Unsupported collision geometry[8]
[ign gazebo-1] [Wrn] [Model.hh:69] 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 haveoperator<<. Component will not be serialized.
[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/underwater_world/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/underwater_world/control]
[ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/underwater_world/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/underwater_world/stats]
[ign gazebo-1] [GUI] [Msg] Added plugin [World stats] to main window
[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::/ComponentInspector/ComponentInspector.qml:251:3: QML Dialog: Binding loop detected for property "implicitHeight"
[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 haveoperator>>. 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] libEGL warning: Not allowed to force software rendering when API explicitly selects a hardware device.
[ign gazebo-1] libEGL warning: MESA-LOADER: failed to open nvidia-drm: /usr/lib/dri/nvidia-drm_dri.so: 无法打开共享目标文件: 没有那个文件或目录 (search paths /usr/lib/aarch64-linux-gnu/dri:$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
[ign gazebo-1]
[ign gazebo-1] libEGL warning: Not allowed to force software rendering when API explicitly selects a hardware device.
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[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]
[INFO] [parameter_bridge-4]: process started with pid [3866]
[parameter_bridge-4] [INFO] [1760792796.738849620] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/camera/image_raw (gz.msgs.Image) -> /camera/image_raw (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-4] [INFO] [1760792796.746835833] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/camera/image_raw (sensor_msgs/msg/Image) -> /camera/image_raw (gz.msgs.Image)] (Lazy 0)
[parameter_bridge-4] [INFO] [1760792796.750454863] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/camera/depth/image_raw (gz.msgs.Image) -> /camera/depth/image_raw (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-4] [INFO] [1760792796.754187909] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/camera/depth/image_raw (sensor_msgs/msg/Image) -> /camera/depth/image_raw (gz.msgs.Image)] (Lazy 0)
[parameter_bridge-4] [INFO] [1760792796.755929009] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/camera/camera_info (gz.msgs.CameraInfo) -> /camera/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0)
[parameter_bridge-4] [INFO] [1760792796.758310101] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/camera/camera_info (sensor_msgs/msg/CameraInfo) -> /camera/camera_info (gz.msgs.CameraInfo)] (Lazy 0)
[INFO] [create-5]: process started with pid [3884]
[create-5] [INFO] [1760792798.633095271] [ros_gz_sim]: Requesting list of world names.
[create-5] [INFO] [1760792798.837419551] [ros_gz_sim]: Waiting messages on topic [/robot_description].
[create-5] [INFO] [1760792799.837702927] [ros_gz_sim]: Waiting messages on topic [/robot_description].
[INFO] [detector_node.py-6]: process started with pid [3904]
[create-5] [INFO] [1760792800.838119501] [ros_gz_sim]: Waiting messages on topic [/robot_description].
[create-5] [INFO] [1760792801.257399320] [ros_gz_sim]: Requested creation of entity.
[create-5] [INFO] [1760792801.257555159] [ros_gz_sim]: OK creation of entity.
[INFO] [create-5]: process has finished cleanly [pid 3884]
[ign gazebo-1] libEGL warning: Not allowed to force software rendering when API explicitly selects a hardware device.
[ign gazebo-1] libEGL warning: MESA-LOADER: failed to open nvidia-drm: /usr/lib/dri/nvidia-drm_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/aarch64-linux-gnu/dri:$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
[ign gazebo-1]
[ign gazebo-1] libEGL warning: Not allowed to force software rendering when API explicitly selects a hardware device.
[ign gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]1;32m/gui/info]
[ign gazebo-1] [Msg] World [underwater_world] initialized with [underwater_physics] physics profile.
[ign gazebo-1] [Msg] Serving world SDF generation service on [/world/underwater_world/generate_world_sdf]
[ign gazebo-1] [Msg] Serving world names on [/gazebo/worlds]
[ign gazebo-1] [Msg] Resource path add service on [/gazebo/resource_paths/add].
[ign gazebo-1] [Msg] Resource path get service on [/gazebo/resource_paths/get].
[ign gazebo-1] [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[ign gazebo-1] [Msg] Resource paths published on [/gazebo/resource_paths].
[ign gazebo-1] [Msg] Server control service on [/server_control].
[ign gazebo-1] [Msg] Found no publishers on /stats, adding root stats topic
[ign gazebo-1] [Msg] Found no publishers on /clock, adding root clock topic
[ign gazebo-1] [Dbg] [SimulationRunner.cc:501] Creating PostUpdate worker threads: 3
[ign gazebo-1] [Dbg] [SimulationRunner.cc:512] Creating postupdate worker thread (0)
[ign gazebo-1] [Dbg] [SimulationRunner.cc:512] Creating postupdate worker thread (1)
[ign gazebo-1] [Msg] Serving scene information on [/world/underwater_world/scene/info]
[ign gazebo-1] [Msg] Serving graph information on [/world/underwater_world/scene/graph]
[ign gazebo-1] [Msg] Serving full state on [/world/underwater_world/state]
[ign gazebo-1] [Msg] Serving full state (async) on [/world/underwater_world/state_async]
[ign gazebo-1] [Msg] Publishing scene information on [/world/underwater_world/scene/info]
[ign gazebo-1] [Msg] Publishing entity deletions on [/world/underwater_world/scene/deletion]
[ign gazebo-1] [Msg] Publishing state changes on [/world/underwater_world/state]
[ign gazebo-1] [Msg] Publishing pose messages on [/world/underwater_world/pose/info]
[ign gazebo-1] [Msg] Publishing dynamic pose messages on [/world/underwater_world/dynamic_pose/info]
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:1623] Updated state thread iterators: 6 threads processing around 5 entities each.
[ign gazebo-1] [Dbg] [UserCommands.cc:1303] Created entity [30] named [underwater_robot]
[ign gazebo-1] [Dbg] [Sensors.cc:610] Initialization needed
[ign gazebo-1] [Dbg] [Sensors.cc:270] Initializing render context
[ign gazebo-1] [Msg] Loading plugin [ignition-rendering-ogre2]
[ign gazebo-1] [Dbg] [RenderUtil.cc:2591] Create scene [scene]
[ign gazebo-1] [Dbg] [Sensors.cc:284] [Dbg] [Sensors.cc:610] Rendering Thread initialized
[ign gazebo-1]
[ign gazebo-1] Initialization needed
[ign gazebo-1]
[ign gazebo-1] [Dbg] [CameraSensor.cc:449] Camera images for [underwater_robot::base_link::underwater_camera] advertised on [camera]
[ign gazebo-1] [Wrn] [Ogre2Camera.cc:390] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend.
[INFO] [bridge_node.py-7]: process started with pid [3936]
[bridge_node.py-7] [INFO] [1760792803.653893889] [underwater_bridge_node]: YOLO Bridge Node started
[detector_node.py-6] [INFO] [1760792805.430290367] [underwater_yolo_detector]: YOLO Detector Node started - Underwater mode: True, TensorRT: False
[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:176:3: QML Dialog: Binding loop detected for property "implicitHeight"
[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:176:3: QML Dialog: Binding loop detected for property "implicitHeight"
[ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:176:3: QML Dialog: Binding loop detected for property "implicitHeight".