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Gazebo导入模型错误
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救救孩子，我用自定义的三维模型导出的URDF文件，在向Gazebo中导入模型时报错：
[INFO] [launch]: All log files can be found below /home/w/.ros/log/2024-03-07-14-01-11-973522-w-virtual-machine-4342
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gazebo-1]: process started with pid [4344]
[INFO] [spawn_entity.py-2]: process started with pid [4346]
[spawn_entity.py-2] [INFO] [1709791272.379086627] [spawn_entity]: Spawn Entity started
[spawn_entity.py-2] [INFO] [1709791272.379976371] [spawn_entity]: Loading entity XML from file /home/w/robot_ws/install/lesson_urdf/share/lesson_urdf/urdf/planar_3dof.urdf.xacro
[gazebo-1] Gazebo multi-robot simulator, version 11.11.0
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1]
[spawn_entity.py-2] [INFO] [1709791272.382085860] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-2] [INFO] [1709791272.382657811] [spawn_entity]: Waiting for service /spawn_entity
[gazebo-1] Gazebo multi-robot simulator, version 11.11.0
[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] [INFO] [1709791272.821512950] [gazebo_ros_node]: ROS was initialized without arguments.
[spawn_entity.py-2] [INFO] [1709791273.138869178] [spawn_entity]: Calling service /spawn_entity
[gazebo-1] [Msg] Waiting for master.
[gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gazebo-1] [Msg] Publicized address: 192.168.1.131
[gazebo-1] [Msg] Loading world file [/usr/share/gazebo-11/worlds/empty.world]
[gazebo-1] [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.
[gazebo-1] [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.
[spawn_entity.py-2] [INFO] [1709791273.203339750] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [planar_3dof]
[INFO] [spawn_entity.py-2]: process has finished cleanly [pid 4346]
[gazebo-1] [Msg] Waiting for master.
[gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gazebo-1] [Msg] Publicized address: 192.168.1.131
[gazebo-1] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gazebo-1] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[INFO] [gazebo-1]: process has finished cleanly [pid 4344]
[gazebo-1] -
ubuntu20.04+ROS2 foxy
出错原因应该是gazebo加载URDF中的STL模型引起的，还不知道怎么解决 -
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@1132960331 在 Gazebo导入模型错误 中说：
[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.
[gazebo-1] [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 pe
添加惯性参数后，问题可以解决，但是又报了新的问题