第九章机器人仿真出现错误

头怎么还不秃啊

urdf文件是直接复制的，应该不会错
<?xml version="1.0"?>
<robot name="fishbot">

<link name="base_footprint"/>

<link name="base_link">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.10"/>
</geometry>
<material name="blue">
<color rgba="0.1 0.1 1.0 0.5" />
</material>
</visual>
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.10"/>
</geometry>
<material name="blue">
<color rgba="0.1 0.1 1.0 0.5" />
</material>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.0122666" ixy="0" ixz="0" iyy="0.0122666" iyz="0" izz="0.02"/>
</inertial>
</link>

<link name="laser_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.02"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.5" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.02"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.5" />
</material>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036"/>
</inertial>
</link>

<joint name="laser_joint" type="fixed">
<parent link="base_link" />
<child link="laser_link" />
<origin xyz="0 0 0.075" />
</joint>

<joint name="imu_joint" type="fixed">
<parent link="base_link" />
<child link="imu_link" />
<origin xyz="0 0 0.02" />
</joint>

<gazebo reference="caster_link">
<material>Gazebo/Black</material>
</gazebo>

<gazebo>
<plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
<ros>
<namespace>/</namespace>
<remapping>cmd_vel:=cmd_vel</remapping>
<remapping>odom:=odom</remapping>
</ros>
<update_rate>30</update_rate>



<left_joint>left_wheel_joint</left_joint>
<right_joint>right_wheel_joint</right_joint>

<wheel_separation>0.2</wheel_separation>
<wheel_diameter>0.065</wheel_diameter>

<max_wheel_torque>20</max_wheel_torque>
<max_wheel_acceleration>1.0</max_wheel_acceleration>

<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<publish_wheel_tf>false</publish_wheel_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_footprint</robot_base_frame>
</plugin>

  <plugin name="fishbot_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
    <ros>
      <remapping>~/out:=joint_states</remapping>
    </ros>
    <update_rate>30</update_rate>
    <joint_name>right_wheel_joint</joint_name>
    <joint_name>left_wheel_joint</joint_name>
  </plugin>    
  </gazebo> 

  <gazebo reference="laser_link">
    <material>Gazebo/Black</material>
  </gazebo>

<gazebo reference="imu_link">
  <sensor name="imu_sensor" type="imu">
  <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
      <ros>
        <namespace>/</namespace>
        <remapping>~/out:=imu</remapping>
      </ros>
      <initial_orientation_as_reference>false</initial_orientation_as_reference>
    </plugin>
    <always_on>true</always_on>
    <update_rate>100</update_rate>
    <visualize>true</visualize>
    <imu>
      <angular_velocity>
        <x>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
            <bias_mean>0.0000075</bias_mean>
            <bias_stddev>0.0000008</bias_stddev>
          </noise>
        </x>
        <y>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
            <bias_mean>0.0000075</bias_mean>
            <bias_stddev>0.0000008</bias_stddev>
          </noise>
        </y>
        <z>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
            <bias_mean>0.0000075</bias_mean>
            <bias_stddev>0.0000008</bias_stddev>
          </noise>
        </z>
      </angular_velocity>
      <linear_acceleration>
        <x>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </noise>
        </x>
        <y>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </noise>
        </y>
        <z>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </noise>
        </z>
      </linear_acceleration>
    </imu>
  </sensor>
</gazebo>

<gazebo reference="laser_link">
  <sensor name="laser_sensor" type="ray">
  <always_on>true</always_on>
  <visualize>true</visualize>
  <update_rate>5</update_rate>
  <pose>0 0 0.075 0 0 0</pose>
  <ray>
      <scan>
        <horizontal>
          <samples>360</samples>
          <resolution>1.000000</resolution>
          <min_angle>0.000000</min_angle>
          <max_angle>6.280000</max_angle>
        </horizontal>
      </scan>
      <range>
        <min>0.120000</min>
        <max>3.5</max>
        <resolution>0.015000</resolution>
      </range>
      <noise>
        <type>gaussian</type>
        <mean>0.0</mean>
        <stddev>0.01</stddev>
      </noise>
  </ray>

  <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
    <ros>
      <!-- <namespace>/tb3</namespace> -->
      <remapping>~/out:=scan</remapping>
    </ros>
    <output_type>sensor_msgs/LaserScan</output_type>
    <frame_name>laser_link</frame_name>
  </plugin>
  </sensor>
</gazebo>

</robot>

小鱼

@441755535 前面的依赖没安装

头怎么还不秃啊

@小鱼可是文档里面要安装的东西我都安装了啊

头怎么还不秃啊

@小鱼 (base) hdm@hdm-virtual-machine:~$ sudo apt install ros-humble-gazebo-ros
正在读取软件包列表... 完成
正在分析软件包的依赖关系树... 完成
正在读取状态信息... 完成
ros-humble-gazebo-ros 已经是最新版 (3.7.0-1jammy.20230302.204832)。
升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 33 个软件包未被升级。

小鱼

@441755535 是plugins，建模仿真篇里的

头怎么还不秃啊

@小鱼 ok，已解决

头怎么还不秃啊

@小鱼谢谢鱼总

BR

@441755535 请问怎么解决的啊，怎么安装plugins

BR

@441755535 大佬求教

BR

@2552728478 网上查了下，已经解决啦

勿扰清梦

@2552728478 你好，请问是咋么解决的？我也卡到这一步了。

dylanin1999

@2752176525 sudo apt install ros-humble-gazebo-ros-pkgs