@唔希迪希 我已解决！
solution：
查看自己的gazebo是哪个版本的
然后修改环境变量
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/usr/share/gazebo-11查看一下有没有修改成功
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ printenv | grep GAZEBO_RESOURCE_PATH GAZEBO_RESOURCE_PATH=:/usr/share/gazebo-11再运行
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py成功在gazebo中打开模型并且无报错！
完整过程：
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ ls /usr/share | grep gazebo gazebo gazebo-11 daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ printenv | grep GAZEBO_RESOURCE_PATH daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/usr/share/gazebo-11 daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ printenv | grep GAZEBO_RESOURCE_PATH GAZEBO_RESOURCE_PATH=:/usr/share/gazebo-11 daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py [INFO] [launch]: All log files can be found below /home/daisy/.ros/log/2024-11-13-17-05-21-173897-daisy-VirtualBox-5684 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [5686] [INFO] [gzserver-2]: process started with pid [5688] [INFO] [gzclient-3]: process started with pid [5690] [robot_state_publisher-1] [INFO] [1731488721.944877604] [robot_state_publisher]: got segment back_caster_link [robot_state_publisher-1] [INFO] [1731488721.947460442] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1731488721.947480484] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1731488721.947484598] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1731488721.947488090] [robot_state_publisher]: got segment front_caster_link [robot_state_publisher-1] [INFO] [1731488721.947491439] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1731488721.947494741] [robot_state_publisher]: got segment laser_cylinder_link [robot_state_publisher-1] [INFO] [1731488721.947498114] [robot_state_publisher]: got segment laser_link [robot_state_publisher-1] [INFO] [1731488721.947501197] [robot_state_publisher]: got segment left_wheel_link [robot_state_publisher-1] [INFO] [1731488721.947504493] [robot_state_publisher]: got segment right_wheel_link [gzserver-2] Gazebo multi-robot simulator, version 11.10.2 [gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation. [gzserver-2] Released under the Apache 2 License. [gzserver-2] http://gazebosim.org [gzserver-2] [gzclient-3] Gazebo multi-robot simulator, version 11.10.2 [gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation. [gzclient-3] Released under the Apache 2 License. [gzclient-3] http://gazebosim.org [gzclient-3] [gzserver-2] [Msg] Waiting for master. [gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzserver-2] [Msg] Publicized address: 172.20.10.12 [gzserver-2] [Msg] Loading world file [/home/daisy/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world] [gzserver-2] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once. [gzclient-3] [Msg] Waiting for master. [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzclient-3] [Msg] Publicized address: 172.20.10.12 [gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in "" [gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [gzclient-3] context mismatch in svga_surface_destroy [gzclient-3] context mismatch in svga_surface_destroy [gzclient-3] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.