第九章运行gazrbo.launch报错，求助！！！

头怎么还不秃啊

第九章运行gazrbo.launch报错,报错如下
ERROR] [spawn_entity.py-2]: process has died [pid 4631, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -entity fishbot -file /home/hdm/d2lros2/nav_ws/src/install/fishbot_description/share/fishbot_description/urdf/fishbot_gazebo.urdf --ros-args'].
urdf文件如下
<?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>
gazebo.launch.py文件如下
import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
robot_name_in_model = 'fishbot'
package_name = 'fishbot_description'
urdf_name = "fishbot_gazebo.urdf"

ld = LaunchDescription()
pkg_share = FindPackageShare(package=package_name).find(package_name) 
urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')

# Start Gazebo server
start_gazebo_cmd =  ExecuteProcess(
    cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'],
    output='screen')

# Launch the robot
spawn_entity_cmd = Node(
    package='gazebo_ros', 
    executable='spawn_entity.py',
    arguments=['-entity', robot_name_in_model,  '-file', urdf_model_path ], output='screen')

ld.add_action(start_gazebo_cmd)
ld.add_action(spawn_entity_cmd)


return ld

求助！！！

小鱼

@441755535 终端日志

@小鱼在提问前必看！一定要看！必须看一下！中说：

一个好的提问不仅能够帮助自己理清楚问题，还有助于别人快速帮助到你。——提问的智慧

问题一定要描述清楚，终端打印一定复制粘贴，方便回答者检索和引用（你可以在linux系统上打开浏览器进社区）
基本的Markdown语法一定要学习下，有的小伙伴图片代码一团糟
提问时一定要提供尽可能多的信息(系统版本，ROS版本，前后操作，终端日志)，包括你的目的，比如你其实想装装某个库遇到问题，不要只说这个问题，因为可能有更好的替代方案
先搜索再提问，很多问题其实都有解决方案，确保你自己对自己的问题有一定了解再提问
尽量一句话说完，不要把社区当微信聊天一样用，每一个回复都尽量提供更多的的信息。

头怎么还不秃啊

@小鱼 (base) hdm@hdm-virtual-machine:~/d2lros2/nav_ws$ colcon build --packages-select fishbot_description
Starting >>> fishbot_description
--- stderr: fishbot_description
/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
warnings.warn(

Finished <<< fishbot_description [4.20s]

Summary: 1 package finished [5.16s]
1 package had stderr output: fishbot_description
(base) hdm@hdm-virtual-machine:~/d2lros2/nav_ws$ source install/setup.bash
ros2 launch fishbot_description gazebo.launch.py
[INFO] [launch]: All log files can be found below /home/hdm/.ros/log/2023-05-14-23-35-03-743334-hdm-virtual-machine-4023
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gazebo-1]: process started with pid [4053]
[INFO] [spawn_entity.py-2]: process started with pid [4055]
[spawn_entity.py-2] Traceback (most recent call last):
[spawn_entity.py-2] File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 32, in <module>
[spawn_entity.py-2] import rclpy
[spawn_entity.py-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 49, in <module>
[spawn_entity.py-2] from rclpy.signals import install_signal_handlers
[spawn_entity.py-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/signals.py", line 15, in <module>
[spawn_entity.py-2] from rclpy.exceptions import InvalidHandle
[spawn_entity.py-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/exceptions.py", line 15, in <module>
[spawn_entity.py-2] from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
[spawn_entity.py-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/impl/implementation_singleton.py", line 32, in <module>
[spawn_entity.py-2] rclpy_implementation = import_c_library('._rclpy_pybind11', package)
[spawn_entity.py-2] File "/opt/ros/humble/lib/python3.10/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library
[spawn_entity.py-2] return importlib.import_module(name, package=package)
[spawn_entity.py-2] File "/home/hdm/miniconda3/lib/python3.8/importlib/init.py", line 127, in import_module
[spawn_entity.py-2] return _bootstrap._gcd_import(name[level:], package, level)
[spawn_entity.py-2] ModuleNotFoundError: No module named 'rclpy._rclpy_pybind11'
[spawn_entity.py-2] The C extension '/opt/ros/humble/lib/python3.10/site-packages/_rclpy_pybind11.cpython-38-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://docs.ros.org/en/humble/Guides/Installation-Troubleshooting.html#import-failing-without-library-present-on-the-system' for possible solutions
[ERROR] [spawn_entity.py-2]: process has died [pid 4055, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -entity fishbot -file /home/hdm/d2lros2/nav_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_gazebo.urdf --ros-args'].
[gazebo-1] Gazebo multi-robot simulator, version 11.10.2
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1]
[gazebo-1] Gazebo multi-robot simulator, version 11.10.2
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1]
[gazebo-1] [Msg] Waiting for master.
[gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gazebo-1] [Msg] Publicized address: 192.168.43.168
[gazebo-1] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
[gazebo-1] context mismatch in svga_surface_destroy
[gazebo-1] context mismatch in svga_surface_destroy

小鱼

@441755535 在第九章运行gazrbo.launch报错，求助！！！中说：

[spawn_entity.py-2] ModuleNotFoundError: No module named 'rclpy._rclpy_pybind11'
[spawn_entity.py-2] The C extension '/opt/ros/humble/lib/python3.10/site-packages/_rclpy_pybind11.cpython-38-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://docs.ros.org/en/humble/Guides/Installation-Troubleshooting.html#import-failing-without-library-present-on-the-system' for possible solutions

有没有conda，有的话退出来，另外

@小鱼在提问前必看！一定要看！必须看一下！中说：

基本的Markdown语法一定要学习下，有的小伙伴图片代码一团糟

用代码块包裹下

天问

@小鱼我在“第九章运行gazebo时，也遇到了相似的问题，无法显示模型，具体如下：
平台:虚拟机 Ubuntu20.04 ros:foxy
执行命令：
gazebo --verbose -s libgazebo_ros_init.so -s libgazebo_ros_factory.so
提示错误：
Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.211.26
[Msg] Loading world file [/usr/share/gazebo-11/worlds/empty.world]
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.211.26
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
context mismatch in svga_surface_destroy
context mismatch in svga_surface_destroy
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
Error [parser.cc:468] Error parsing XML from string: Error document empty.
[Err] [Model.cc:123] Error Code 23 Msg: FrameAttachedToGraph error, Non-LINK vertex with name [model] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
[Err] [Model.cc:123] Error Code 23 Msg: Graph with model scope has sink vertex named [model] when starting from vertex with name [model], which is not permitted.

在RQT中配置如下图：
屏幕截图 2023-06-12 204259.png
在RQT中提示成功，但是在gazebo中提示以上错误，且没有模型显示出来。

1243716644

我也是这种错误，启动gazebo报错
nieao@nieao-vm:~$ gazebo --verbose -s libgazebo_ros_init.so -s libgazebo_ros_factory.so
Gazebo multi-robot simulator, version 11.10.2
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
Gazebo multi-robot simulator, version 11.10.2
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.247.128
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.247.128
[Msg] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[Msg] Loading world file [/usr/share/gazebo-11/worlds/empty.world]
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.
context mismatch in svga_surface_destroy
context mismatch in svga_surface_destroy
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.

1243716644

@小鱼
我也是这种错误，启动gazebo报一下错误

[Publisher.cc:135] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once

-vm:~$ gazebo --verbose -s libgazebo_ros_init.so -s libgazebo_ros_factory.so
Gazebo multi-robot simulator, version 11.10.2
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
Gazebo multi-robot simulator, version 11.10.2
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.247.128
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.247.128
[Msg] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[Msg] Loading world file [/usr/share/gazebo-11/worlds/empty.world]
[**Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.**
context mismatch in svga_surface_destroy
context mismatch in svga_surface_destroy
**[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.**