信息4：终端反馈的信息：

wlz@ubuntu:~/catkin_ws$ roslaunch ur5_moveit_config demo_gazebo.launch
... logging to /home/wlz/.ros/log/4bfb239a-1e86-11f0-9e8b-000c29aa3a06/roslaunch-ubuntu-20237.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:41385/

SUMMARY

PARAMETERS

/arm_controller/action_monitor_rate: 1 /arm_controller/constraints/goal_time: 0.6 /arm_controller/constraints/joint1/goal: 0.1 /arm_controller/constraints/joint1/trajectory: 0.1 /arm_controller/constraints/joint2/goal: 0.1 /arm_controller/constraints/joint2/trajectory: 0.1 /arm_controller/constraints/joint3/goal: 0.1 /arm_controller/constraints/joint3/trajectory: 0.1 /arm_controller/constraints/joint4/goal: 0.1 /arm_controller/constraints/joint4/trajectory: 0.1 /arm_controller/constraints/joint5/goal: 0.1 /arm_controller/constraints/joint5/trajectory: 0.1 /arm_controller/constraints/joint6/goal: 0.1 /arm_controller/constraints/joint6/trajectory: 0.1 /arm_controller/constraints/stopped_velocity_tolerance: 0.05 /arm_controller/gains/joint1/d: 1.0 /arm_controller/gains/joint1/i: 10.0 /arm_controller/gains/joint1/i_clamp_max: 1.0 /arm_controller/gains/joint1/i_clamp_min: -1.0 /arm_controller/gains/joint1/p: 100.0 /arm_controller/gains/joint2/d: 1.0 /arm_controller/gains/joint2/i: 10.0 /arm_controller/gains/joint2/i_clamp_max: 1.0 /arm_controller/gains/joint2/i_clamp_min: -1.0 /arm_controller/gains/joint2/p: 100.0 /arm_controller/gains/joint3/d: 1.0 /arm_controller/gains/joint3/i: 10.0 /arm_controller/gains/joint3/i_clamp_max: 1.0 /arm_controller/gains/joint3/i_clamp_min: -1.0 /arm_controller/gains/joint3/p: 100.0 /arm_controller/gains/joint4/d: 1.0 /arm_controller/gains/joint4/i: 10.0 /arm_controller/gains/joint4/i_clamp_max: 1.0 /arm_controller/gains/joint4/i_clamp_min: -1.0 /arm_controller/gains/joint4/p: 100.0 /arm_controller/gains/joint5/d: 1.0 /arm_controller/gains/joint5/i: 10.0 /arm_controller/gains/joint5/i_clamp_max: 1.0 /arm_controller/gains/joint5/i_clamp_min: -1.0 /arm_controller/gains/joint5/p: 100.0 /arm_controller/gains/joint6/d: 1.0 /arm_controller/gains/joint6/i: 10.0 /arm_controller/gains/joint6/i_clamp_max: 1.0 /arm_controller/gains/joint6/i_clamp_min: -1.0 /arm_controller/gains/joint6/p: 100.0 /arm_controller/joints: ['joint1', 'joint... /arm_controller/state_publish_rate: 25 /arm_controller/stop_trajectory_duration: 0.5 /arm_controller/type: effort_controller... /controller_list: [{'default': True... /gazebo/enable_ros_network: True /generic_hw_control_loop/cycle_time_error_threshold: 0.01 /generic_hw_control_loop/loop_hz: 300 /hardware_interface/joints: ['joint1', 'joint... /hardware_interface/sim_control_mode: 1 /joint_state_controller/publish_rate: 50 /joint_state_controller/type: joint_state_contr... /joint_state_publisher/source_list: ['/joint_states'] /move_group/allow_trajectory_execution: True /move_group/arm/default_planner_config: RRT /move_group/arm/longest_valid_segment_fraction: 0.005 /move_group/arm/planner_configs: ['SBL', 'EST', 'L... /move_group/arm/projection_evaluator: joints(joint1,joi... /move_group/arm_controller/action_monitor_rate: 1 /move_group/arm_controller/constraints/goal_time: 0.6 /move_group/arm_controller/constraints/joint1/goal: 0.1 /move_group/arm_controller/constraints/joint1/trajectory: 0.1 /move_group/arm_controller/constraints/joint2/goal: 0.1 /move_group/arm_controller/constraints/joint2/trajectory: 0.1 /move_group/arm_controller/constraints/joint3/goal: 0.1 /move_group/arm_controller/constraints/joint3/trajectory: 0.1 /move_group/arm_controller/constraints/joint4/goal: 0.1 /move_group/arm_controller/constraints/joint4/trajectory: 0.1 /move_group/arm_controller/constraints/joint5/goal: 0.1 /move_group/arm_controller/constraints/joint5/trajectory: 0.1 /move_group/arm_controller/constraints/joint6/goal: 0.1 /move_group/arm_controller/constraints/joint6/trajectory: 0.1 /move_group/arm_controller/constraints/stopped_velocity_tolerance: 0.05 /move_group/arm_controller/gains/joint1/d: 1.0 /move_group/arm_controller/gains/joint1/i: 10.0 /move_group/arm_controller/gains/joint1/i_clamp_max: 1.0 /move_group/arm_controller/gains/joint1/i_clamp_min: -1.0 /move_group/arm_controller/gains/joint1/p: 100.0 /move_group/arm_controller/gains/joint2/d: 1.0 /move_group/arm_controller/gains/joint2/i: 10.0 /move_group/arm_controller/gains/joint2/i_clamp_max: 1.0 /move_group/arm_controller/gains/joint2/i_clamp_min: -1.0 /move_group/arm_controller/gains/joint2/p: 100.0 /move_group/arm_controller/gains/joint3/d: 1.0 /move_group/arm_controller/gains/joint3/i: 10.0 /move_group/arm_controller/gains/joint3/i_clamp_max: 1.0 /move_group/arm_controller/gains/joint3/i_clamp_min: -1.0 /move_group/arm_controller/gains/joint3/p: 100.0 /move_group/arm_controller/gains/joint4/d: 1.0 /move_group/arm_controller/gains/joint4/i: 10.0 /move_group/arm_controller/gains/joint4/i_clamp_max: 1.0 /move_group/arm_controller/gains/joint4/i_clamp_min: -1.0 /move_group/arm_controller/gains/joint4/p: 100.0 /move_group/arm_controller/gains/joint5/d: 1.0 /move_group/arm_controller/gains/joint5/i: 10.0 /move_group/arm_controller/gains/joint5/i_clamp_max: 1.0 /move_group/arm_controller/gains/joint5/i_clamp_min: -1.0 /move_group/arm_controller/gains/joint5/p: 100.0 /move_group/arm_controller/gains/joint6/d: 1.0 /move_group/arm_controller/gains/joint6/i: 10.0 /move_group/arm_controller/gains/joint6/i_clamp_max: 1.0 /move_group/arm_controller/gains/joint6/i_clamp_min: -1.0 /move_group/arm_controller/gains/joint6/p: 100.0 /move_group/arm_controller/joints: ['joint1', 'joint... /move_group/arm_controller/state_publish_rate: 25 /move_group/arm_controller/stop_trajectory_duration: 0.5 /move_group/arm_controller/type: effort_controller... /move_group/capabilities: /move_group/controller_list: [{'default': True... /move_group/disable_capabilities: /move_group/generic_hw_control_loop/cycle_time_error_threshold: 0.01 /move_group/generic_hw_control_loop/loop_hz: 300 /move_group/hardware_interface/joints: ['joint1', 'joint... /move_group/hardware_interface/sim_control_mode: 1 /move_group/jiggle_fraction: 0.05 /move_group/joint_state_controller/publish_rate: 50 /move_group/joint_state_controller/type: joint_state_contr... /move_group/max_range: 5.0 /move_group/max_safe_path_cost: 1 /move_group/moveit_controller_manager: moveit_simple_con... /move_group/moveit_manage_controllers: True /move_group/moveit_sim_hw_interface/joint_model_group: arm /move_group/moveit_sim_hw_interface/joint_model_group_pose: init_pos /move_group/octomap_resolution: 0.025 /move_group/planner_configs/BFMT/balanced: 0 /move_group/planner_configs/BFMT/cache_cc: 1 /move_group/planner_configs/BFMT/extended_fmt: 1 /move_group/planner_configs/BFMT/heuristics: 1 /move_group/planner_configs/BFMT/nearest_k: 1 /move_group/planner_configs/BFMT/num_samples: 1000 /move_group/planner_configs/BFMT/optimality: 1 /move_group/planner_configs/BFMT/radius_multiplier: 1.0 /move_group/planner_configs/BFMT/type: geometric::BFMT /move_group/planner_configs/BKPIECE/border_fraction: 0.9 /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5 /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5 /move_group/planner_configs/BKPIECE/range: 0.0 /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE /move_group/planner_configs/BiEST/range: 0.0 /move_group/planner_configs/BiEST/type: geometric::BiEST /move_group/planner_configs/BiTRRT/cost_threshold: 1e300 /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1 /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0 /move_group/planner_configs/BiTRRT/init_temperature: 100 /move_group/planner_configs/BiTRRT/range: 0.0 /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1 /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT /move_group/planner_configs/EST/goal_bias: 0.05 /move_group/planner_configs/EST/range: 0.0 /move_group/planner_configs/EST/type: geometric::EST /move_group/planner_configs/FMT/cache_cc: 1 /move_group/planner_configs/FMT/extended_fmt: 1 /move_group/planner_configs/FMT/heuristics: 0 /move_group/planner_configs/FMT/nearest_k: 1 /move_group/planner_configs/FMT/num_samples: 1000 /move_group/planner_configs/FMT/radius_multiplier: 1.1 /move_group/planner_configs/FMT/type: geometric::FMT /move_group/planner_configs/KPIECE/border_fraction: 0.9 /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5 /move_group/planner_configs/KPIECE/goal_bias: 0.05 /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5 /move_group/planner_configs/KPIECE/range: 0.0 /move_group/planner_configs/KPIECE/type: geometric::KPIECE /move_group/planner_configs/LBKPIECE/border_fraction: 0.9 /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5 /move_group/planner_configs/LBKPIECE/range: 0.0 /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE /move_group/planner_configs/LBTRRT/epsilon: 0.4 /move_group/planner_configs/LBTRRT/goal_bias: 0.05 /move_group/planner_configs/LBTRRT/range: 0.0 /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT /move_group/planner_configs/LazyPRM/range: 0.0 /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR... /move_group/planner_configs/PDST/type: geometric::PDST /move_group/planner_configs/PRM/max_nearest_neighbors: 10 /move_group/planner_configs/PRM/type: geometric::PRM /move_group/planner_configs/PRMstar/type: geometric::PRMstar /move_group/planner_configs/ProjEST/goal_bias: 0.05 /move_group/planner_configs/ProjEST/range: 0.0 /move_group/planner_configs/ProjEST/type: geometric::ProjEST /move_group/planner_configs/RRT/goal_bias: 0.05 /move_group/planner_configs/RRT/range: 0.0 /move_group/planner_configs/RRT/type: geometric::RRT /move_group/planner_configs/RRTConnect/range: 0.0 /move_group/planner_configs/RRTConnect/type: geometric::RRTCon... /move_group/planner_configs/RRTstar/delay_collision_checking: 1 /move_group/planner_configs/RRTstar/goal_bias: 0.05 /move_group/planner_configs/RRTstar/range: 0.0 /move_group/planner_configs/RRTstar/type: geometric::RRTstar /move_group/planner_configs/SBL/range: 0.0 /move_group/planner_configs/SBL/type: geometric::SBL /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001 /move_group/planner_configs/SPARS/max_failures: 1000 /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25 /move_group/planner_configs/SPARS/stretch_factor: 3.0 /move_group/planner_configs/SPARS/type: geometric::SPARS /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001 /move_group/planner_configs/SPARStwo/max_failures: 5000 /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25 /move_group/planner_configs/SPARStwo/stretch_factor: 3.0 /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo /move_group/planner_configs/STRIDE/degree: 16 /move_group/planner_configs/STRIDE/estimated_dimension: 0.0 /move_group/planner_configs/STRIDE/goal_bias: 0.05 /move_group/planner_configs/STRIDE/max_degree: 18 /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6 /move_group/planner_configs/STRIDE/min_degree: 12 /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2 /move_group/planner_configs/STRIDE/range: 0.0 /move_group/planner_configs/STRIDE/type: geometric::STRIDE /move_group/planner_configs/STRIDE/use_projected_distance: 0 /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1 /move_group/planner_configs/TRRT/frountier_threshold: 0.0 /move_group/planner_configs/TRRT/goal_bias: 0.05 /move_group/planner_configs/TRRT/init_temperature: 10e-6 /move_group/planner_configs/TRRT/k_constant: 0.0 /move_group/planner_configs/TRRT/max_states_failed: 10 /move_group/planner_configs/TRRT/min_temperature: 10e-10 /move_group/planner_configs/TRRT/range: 0.0 /move_group/planner_configs/TRRT/temp_change_factor: 2.0 /move_group/planner_configs/TRRT/type: geometric::TRRT /move_group/planning_plugin: ompl_interface/OM... /move_group/planning_scene_monitor/publish_geometry_updates: True /move_group/planning_scene_monitor/publish_planning_scene: True /move_group/planning_scene_monitor/publish_state_updates: True /move_group/planning_scene_monitor/publish_transforms_updates: True /move_group/request_adapters: default_planner_r... /move_group/sensors: [{}, {}] /move_group/start_state_max_bounds_error: 0.1 /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2 /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5 /move_group/trajectory_execution/allowed_start_tolerance: 0.01 /moveit_sim_hw_interface/joint_model_group: arm /moveit_sim_hw_interface/joint_model_group_pose: init_pos /robot_description: <...> /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl... /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005 /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005 /robot_description_planning/cartesian_limits/max_rot_vel: 1.57 /robot_description_planning/cartesian_limits/max_trans_acc: 2.25 /robot_description_planning/cartesian_limits/max_trans_dec: -5 /robot_description_planning/cartesian_limits/max_trans_vel: 1 /robot_description_planning/joint_limits/joint1/has_acceleration_limits: False /robot_description_planning/joint_limits/joint1/has_velocity_limits: True /robot_description_planning/joint_limits/joint1/max_acceleration: 0 /robot_description_planning/joint_limits/joint1/max_velocity: 1 /robot_description_planning/joint_limits/joint2/has_acceleration_limits: False /robot_description_planning/joint_limits/joint2/has_velocity_limits: True /robot_description_planning/joint_limits/joint2/max_acceleration: 0 /robot_description_planning/joint_limits/joint2/max_velocity: 1 /robot_description_planning/joint_limits/joint3/has_acceleration_limits: False /robot_description_planning/joint_limits/joint3/has_velocity_limits: True /robot_description_planning/joint_limits/joint3/max_acceleration: 0 /robot_description_planning/joint_limits/joint3/max_velocity: 1 /robot_description_planning/joint_limits/joint4/has_acceleration_limits: False /robot_description_planning/joint_limits/joint4/has_velocity_limits: True /robot_description_planning/joint_limits/joint4/max_acceleration: 0 /robot_description_planning/joint_limits/joint4/max_velocity: 1 /robot_description_planning/joint_limits/joint5/has_acceleration_limits: False /robot_description_planning/joint_limits/joint5/has_velocity_limits: True /robot_description_planning/joint_limits/joint5/max_acceleration: 0 /robot_description_planning/joint_limits/joint5/max_velocity: 1 /robot_description_planning/joint_limits/joint6/has_acceleration_limits: False /robot_description_planning/joint_limits/joint6/has_velocity_limits: True /robot_description_planning/joint_limits/joint6/max_acceleration: 0 /robot_description_planning/joint_limits/joint6/max_velocity: 1 /robot_description_semantic: <?xml version="1.... /rosdistro: melodic /rosversion: 1.14.13 /use_sim_time: True

NODES
/
controller_spawner (controller_manager/controller_manager)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_ubuntu_20237_4335575107870997936 (rviz/rviz)
spawn_gazebo_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [20248]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4bfb239a-1e86-11f0-9e8b-000c29aa3a06
process[rosout-1]: started with pid [20259]
started core service [/rosout]
process[gazebo-2]: started with pid [20266]
process[gazebo_gui-3]: started with pid [20271]
process[spawn_gazebo_model-4]: started with pid [20276]
process[controller_spawner-5]: started with pid [20277]
process[joint_state_publisher-6]: started with pid [20278]
process[robot_state_publisher-7]: started with pid [20279]
process[move_group-8]: started with pid [20284]
process[rviz_ubuntu_20237_4335575107870997936-9]: started with pid [20287]
[ INFO] [1745222260.363244886]: Loading robot model 'ur5'...
[ INFO] [1745222260.364989494]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1745222260.494560184]: rviz version 1.13.30
[ INFO] [1745222260.494591722]: compiled against Qt version 5.9.5
[ INFO] [1745222260.494595988]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1745222260.518764872]: Forcing OpenGl version 0.
[ INFO] [1745222260.722250625]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1745222260.723508491]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1745222260.760316358]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1745222260.761426299]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1745222261.035135, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1745222261.039118, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1745222261.105124409]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1745222261.105965327]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1745222261.105977776]: Starting planning scene monitor
[ INFO] [1745222261.106623188]: Listening to '/planning_scene'
[ INFO] [1745222261.106642626]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1745222261.107250822]: Listening to '/collision_object'
[ INFO] [1745222261.107848528]: Listening to '/planning_scene_world' for planning scene world geometry
[ERROR] [1745222261.108177843]: No sensor plugin specified for octomap updater 0; ignoring.
[ERROR] [1745222261.108194339]: No sensor plugin specified for octomap updater 1; ignoring.
[ INFO] [1745222261.524284989]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1745222261.532819038]: Initializing OMPL interface using ROS parameters
[ INFO] [1745222261.538223872]: Using planning interface 'OMPL'
[ INFO] [1745222261.539396056]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1745222261.539664402]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1745222261.539802002]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1745222261.540023891]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1745222261.540209116]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1745222261.540325418]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1745222261.540348881]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1745222261.540353281]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1745222261.540376863]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1745222261.540389910]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1745222261.540393710]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1745222262.315186965]: Stereo is NOT SUPPORTED
[ INFO] [1745222262.316773424]: OpenGL device: SVGA3D; build: RELEASE; LLVM;
[ INFO] [1745222262.316864831]: OpenGl version: 2.1 (GLSL 1.2).
[ INFO] [1745222262.671448245]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1745222262.692236903, 0.003000000]: Physics dynamic reconfigure ready.
[INFO] [1745222262.845087, 0.142000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1745222262.923867, 0.181000]: Spawn status: SpawnModel: Successfully spawned entity
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/wlz/.ros/log/4bfb239a-1e86-11f0-9e8b-000c29aa3a06/spawn_gazebo_model-4*.log
[ INFO] [1745222263.142571411, 0.181000000]: Loading gazebo_ros_control plugin
[ INFO] [1745222263.142673823, 0.181000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1745222263.143422135, 0.181000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1745222263.252471974, 0.181000000]: Loaded gazebo_ros_control.
Loaded 'joint_state_controller'
Loaded 'arm_controller'
Started ['joint_state_controller'] successfully
Started ['arm_controller'] successfully
[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[controller_spawner-5] process has finished cleanly
log file: /home/wlz/.ros/log/4bfb239a-1e86-11f0-9e8b-000c29aa3a06/controller_spawner-5*.log
[ INFO] [1745222263.739094299, 0.607000000]: Added FollowJointTrajectory controller for arm_controller
[ INFO] [1745222263.739193923, 0.607000000]: Returned 1 controllers in list
[ INFO] [1745222263.746224175, 0.607000000]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1745222263.774589680, 0.635000000]:

MoveGroup using: - ApplyPlanningSceneService - ClearOctomapService - CartesianPathService - ExecuteTrajectoryAction - GetPlanningSceneService - KinematicsService - MoveAction - PickPlaceAction - MotionPlanService - QueryPlannersService - StateValidationService

[ INFO] [1745222263.774862296, 0.635000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1745222263.774961446, 0.635000000]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1745222266.381338979, 3.212000000]: Loading robot model 'ur5'...
[ INFO] [1745222266.381578969, 3.213000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1745222267.110574561, 3.947000000]: Starting planning scene monitor
[ INFO] [1745222267.111989507, 3.949000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1745222267.358729135, 4.203000000]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ INFO] [1745222268.358171206, 5.170000000]: Ready to take commands for planning group arm.
[ INFO] [1745222268.358261926, 5.170000000]: Looking around: no
[ INFO] [1745222268.358272424, 5.170000000]: Replanning: no

@2118561423 感谢感谢 已经解决了

@小鱼 谢谢鱼哥解答😘

在Gazebo仿真环境中加载机器人失败，并且无法打开Gazebo，这通常是由多种潜在原因导致的。以下是一些可能的原因及其相应的解决方案：

原因分析

模型库加载问题：

Gazebo在启动时会自动从网络下载模型库，但由于网络问题或模型库本身的问题，加载过程可能会失败。 网络连接不稳定、防火墙设置错误等都可能导致Gazebo无法正常下载模型库。

环境变量设置问题：

如果Gazebo相关的环境变量（如GAZEBO_MODEL_PATH）设置不正确，可能会影响Gazebo的正常运行。

依赖包缺失：

Gazebo的正常运行依赖于一些特定的软件包，如果这些依赖包没有正确安装，可能会导致Gazebo无法启动。

配置文件问题：

如果Gazebo的配置文件（如启动文件）编写有误，或者与当前的系统环境不兼容，也可能导致加载机器人失败。

系统兼容性问题：

操作系统或相关软件的版本与Gazebo不兼容，也可能导致启动失败。 解决方案

手动下载模型库：

访问Gazebo官方GitHub仓库，手动下载所需的模型库，并将其放到Gazebo软件相应的文件夹下（通常为~/.gazebo/models）。

禁用自动下载：

修改Gazebo的配置文件，禁用自动下载模型库的功能。这样，Gazebo在启动时就不会尝试从网络加载模型库，而是直接使用本地已有的模型库。

检查网络连接：

确保计算机已连接到稳定的网络，并可以正常访问外部网络。

配置防火墙：

检查防火墙设置，确保Gazebo可以正常访问外部网络。如有必要，可以临时关闭防火墙以测试Gazebo是否可以正常启动。

检查环境变量：

确保Gazebo相关的环境变量设置正确，特别是GAZEBO_MODEL_PATH。

安装依赖包：

使用包管理器（如apt-get、yum等）确保已安装Gazebo所需的依赖包，如OpenCV、SDL等。

更新系统：

确保操作系统和相关软件已更新到最新版本，以修复可能存在的系统漏洞和兼容性问题。

检查启动文件：

确保gazebo_sim.launch.py启动文件编写正确，没有语法错误或逻辑错误。同时，检查该文件是否与当前的系统环境和Gazebo版本兼容。

查看日志文件：

查看Gazebo和ROS2的日志文件，以获取更详细的错误信息。这有助于诊断问题所在，并采取相应的解决措施。

重启系统：

在进行上述修改后，尝试重启系统以确保所有设置生效，并再次尝试启动Gazebo。

综上所述，针对Gazebo仿真环境中加载机器人失败的问题，可以从多个方面进行排查和解决。希望以上解决方案能帮助您成功启动Gazebo并加载机器人模型。如果问题仍然存在，建议查阅Gazebo和ROS2的官方文档或寻求社区支持以获取更详细的帮助。

以上为生成回答，仅供参考～

@1661223315 在 在使用导航时开启riz2时出现tf错误，并且在rviz2中给出初始位置也无效 中说：

就解决了，

但是我的是实车，出现的这个问题，不是仿真，不知道是不是网络的问题。

在ROS 2（Robot Operating System 2）中，使用effort_controllers通常是为了控制机器人的关节或执行器，通过发布特定的命令（如力或扭矩）来实现。如果你在使用effort_control并且遇到了关于commands接口的问题，这里有几个可能的解决方案和检查步骤：

确认控制器配置：
首先，确保你的控制器配置文件（通常是YAML格式）正确设置了effort_controllers。例如，你的配置可能看起来像这样：

firstrobot_controllers: type: "effort_controllers/JointEffortController" joint: "your_joint_name"

这里，your_joint_name需要替换为你实际想要控制的关节名。

检查ROS 2节点和话题：
当你启动控制器节点时，ROS 2会自动创建相关的话题和服务。使用ros2 topic list和ros2 service list来检查是否有与你的控制器相关的话题和服务。你提到没有看到/firstrobot_effort_controller/commands话题，这可能是因为：

控制器没有正确启动。 话题名称可能由于配置或命名空间的差异而有所不同。 你可能需要检查控制器是否正在运行，可以使用ros2 node list查看所有活动的节点。

检查命名空间：
如果你的ROS 2节点使用了命名空间，那么话题和服务的名称将包括这个命名空间。确保在搜索话题时考虑到这一点。

查看控制器日志：
检查控制器的日志输出，看看是否有任何错误或警告信息。这可以通过ros2 node info /your_controller_node或查看ROS 2的日志输出（通常是通过rqt_console或直接在终端中查看）来完成。

确保控制器已经激活：
在某些情况下，控制器可能需要被显式激活才能开始监听命令。这通常通过调用特定的服务来完成，如/controller_manager/switch_controller服务。

检查ROS 2版本和依赖：
确保你使用的ROS 2版本和所有相关依赖都是最新的，并且兼容你的控制器和硬件。

查阅文档和社区资源：
如果以上步骤都不能解决问题，查阅ROS 2的官方文档和社区论坛可能会有帮助。特别是查找是否有其他人遇到过类似的问题，并找到了解决方案。

通过以上步骤，你应该能够诊断出问题所在，或者至少缩小问题的范围。如果问题依然存在，可能需要更深入地检查你的控制器配置、ROS 2节点设置以及硬件连接等方面。

以上为生成回答，仅供参考～

在ROS2和Gazebo环境中，当你遇到自创机器人在从前进变换到后退时发生翻车的问题，并通过减小扭矩和增加base-link的尺寸看似解决了这一问题，这种方法在一定程度上是合理的，但具体是否最优还需考虑以下几点分析：

合理性分析

减小扭矩：

扭矩的大小直接影响轮子的驱动力或制动力。过大的扭矩可能导致机器人在转向或变换运动状态时产生过大的加速度或减速度，从而增加翻车的风险。 减小扭矩有助于使机器人在变换运动状态时更加平稳，减少因急加速或急减速而产生的翻车倾向。

增加base-link尺寸：

Base-link作为机器人的基座，其尺寸的增加可以提高机器人的稳定性，尤其是在高速运动或复杂地形中。 增加base-link的尺寸可以降低机器人的重心，从而提高其抗倾覆能力。 其他可能因素及建议

速度控制：

正如某CSDN博客提到的，现实世界中小车翻车可能是因为速度过快。在Gazebo模拟中，同样需要合理控制机器人的速度，避免过快导致的失控。 可以通过调整速度控制参数来进一步优化机器人的运动性能。

传感器和反馈控制：

在实际应用中，机器人通常会配备各种传感器来监测自身状态和环境信息。 可以考虑在Gazebo模拟中加入传感器模型，并利用这些传感器信息来实现更精细的反馈控制，从而提高机器人的稳定性和安全性。

物理参数调优：

除了扭矩和base-link尺寸外，还可以考虑调整其他物理参数，如轮子的摩擦系数、质量分布等，以进一步优化机器人的性能。

仿真环境设置：

检查Gazebo仿真环境的设置，确保地面摩擦系数、地形起伏等参数符合实际情况。 不合理的仿真环境设置也可能导致机器人出现不稳定的行为。 结论

综上所述，通过减小扭矩和增加base-link尺寸来解决机器人在Gazebo中翻车的问题是合理的。然而，为了获得更稳定、更安全的机器人性能，还需要综合考虑速度控制、传感器和反馈控制、物理参数调优以及仿真环境设置等多个方面。因此，建议你在后续的工作中继续优化这些参数和设置，以获得更佳的机器人性能。

以上为生成回答，仅供参考～

尝试了几次后，现在直接gazebo直接卡在启动界面了，日志也和之前有一些不一样

chen@chen-virtual-machine:~/Program/test_car/test_car_ws$ colcon build Starting >>> car_description Finished <<< car_description [0.14s] Summary: 1 package finished [0.41s] chen@chen-virtual-machine:~/Program/test_car/test_car_ws$ sourec install/setup.bash sourec：未找到命令 chen@chen-virtual-machine:~/Program/test_car/test_car_ws$ source install/setup.bash chen@chen-virtual-machine:~/Program/test_car/test_car_ws$ ros2 launch car_description gazebo_sim.launch.py [INFO] [launch]: All log files can be found below /home/chen/.ros/log/2025-03-03-17-59-07-717052-chen-virtual-machine-3873 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [3875] [INFO] [gzserver-2]: process started with pid [3877] [INFO] [gzclient-3]: process started with pid [3879] [INFO] [spawn_entity.py-4]: process started with pid [3881] [INFO] [joint_state_publisher-5]: process started with pid [3883] [robot_state_publisher-1] [INFO] [1740995948.251949005] [robot_state_publisher]: got segment base_footprint_link [robot_state_publisher-1] [INFO] [1740995948.252182270] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1740995948.252193030] [robot_state_publisher]: got segment base_up_link [robot_state_publisher-1] [INFO] [1740995948.252199152] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1740995948.252204201] [robot_state_publisher]: got segment camera_optical_link [robot_state_publisher-1] [INFO] [1740995948.252208950] [robot_state_publisher]: got segment holderfirst_link [robot_state_publisher-1] [INFO] [1740995948.252213339] [robot_state_publisher]: got segment holderfourth_link [robot_state_publisher-1] [INFO] [1740995948.252217807] [robot_state_publisher]: got segment holdersecond_link [robot_state_publisher-1] [INFO] [1740995948.252222276] [robot_state_publisher]: got segment holderthird_link [robot_state_publisher-1] [INFO] [1740995948.252226634] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1740995948.252231133] [robot_state_publisher]: got segment laser_link [robot_state_publisher-1] [INFO] [1740995948.252235581] [robot_state_publisher]: got segment left_passivewheel_link [robot_state_publisher-1] [INFO] [1740995948.252240491] [robot_state_publisher]: got segment left_wheel_link [robot_state_publisher-1] [INFO] [1740995948.252245310] [robot_state_publisher]: got segment right_passivewheel_link [robot_state_publisher-1] [INFO] [1740995948.252249748] [robot_state_publisher]: got segment right_wheel_link [robot_state_publisher-1] [INFO] [1740995948.252254016] [robot_state_publisher]: got segment trackleft_link [robot_state_publisher-1] [INFO] [1740995948.252258305] [robot_state_publisher]: got segment trackright_link [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] [joint_state_publisher-5] [INFO] [1740995948.506909023] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [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] [spawn_entity.py-4] [INFO] [1740995948.620220423] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1740995948.622548963] [spawn_entity]: Loading entity published on topic /robot_description [spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [spawn_entity.py-4] warnings.warn( [spawn_entity.py-4] [INFO] [1740995948.627491577] [spawn_entity]: Waiting for entity xml on /robot_description [spawn_entity.py-4] [INFO] [1740995948.644838611] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-4] [INFO] [1740995948.645381787] [spawn_entity]: Waiting for service /spawn_entity [spawn_entity.py-4] [INFO] [1740995949.403105183] [spawn_entity]: Calling service /spawn_entity [gzclient-3] [Msg] Waiting for master. [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzclient-3] [Msg] Publicized address: 192.168.142.134 [gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/chen/Program/test_car/test_car_ws/install/car_description/share/ament_index" [gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/chen/Program/test_car/test_car_ws/install/car_description/share/car_description" [gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/chen/Program/test_car/test_car_ws/install/car_description/share/colcon-core" [gzserver-2] [INFO] [1740995950.186192323] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info] [gzserver-2] [INFO] [1740995950.187911694] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info] [gzserver-2] [INFO] [1740995950.189006163] [depth_camera]: Publishing pointcloud to [/camera_sensor/points] [gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [spawn_entity.py-4] [INFO] [1740995950.305917939] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [track_car] [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 3881] [gzclient-3] [Err] [Connection.cc:547] Connection[17] Closed during Read [gzclient-3] [Err] [TransportIface.cc:385] Unable to read from master [ERROR] [gzserver-2]: process has died [pid 3877, exit code -11, cmd 'gzserver /home/chen/Program/test_car/test_car_ws/install/car_description/share/car_description/world/custom_room.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so']. [gzclient-3] [Err] [GLWidget.cc:900] Unable to connect to a running Gazebo master. [gzclient-3] [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) [robot_state_publisher-1] [INFO] [1740996081.753914506] [rclcpp]: signal_handler(signum=2) [gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 3875] [INFO] [joint_state_publisher-5]: process has finished cleanly [pid 3883] [INFO] [gzclient-3]: process has finished cleanly [pid 3879] [gzclient-3] [gzclient-3]

但是一移除激光雷达插件又能正常启动

出现这种错误通常意味着在使用 Gazebo 和 ROS（Robot Operating System）进行仿真时，spawn_model 服务无法成功地在 Gazebo 中创建或初始化指定的机器人模型。这可能是由于多种原因造成的，包括但不限于：

URDF文件问题：

确保robot_description参数正确加载了URDF文件。 检查URDF文件是否完整且没有语法错误。 确保所有引用的文件（如材质、mesh文件等）路径正确无误。

环境配置问题：

确保Gazebo和ROS正确安装且版本兼容。 检查ROS环境变量是否设置正确（如$ROS_MASTER_URI和$ROS_HOSTNAME）。

Gazebo服务问题：

确保Gazebo已经启动并运行在正确的端口上。 使用rosservice list查看是否有gazebo/set_model_state或gazebo/spawn_urdf_model服务可用。

命令行参数问题：

检查spawn_model命令的参数是否正确。例如，-J参数后面应该跟关节名称和初始位置，确保这些参数与URDF文件中的定义一致。

权限问题：

确保你有权限访问和修改Gazebo和ROS相关的文件和目录。

查看日志文件：

检查提供的日志文件（/home/wms/.ros/log/95f6377e-f437-11ef-bf28-ab63c1d31fa5/spawn_gazebo_model-4.log）以获取更详细的错误信息。 解决步骤

检查URDF文件：

使用rosparam get /robot_description查看robot_description参数内容。 使用URDF验证工具（如urdf_to_graphviz）检查URDF文件的正确性。

检查日志文件：

打开日志文件，查找具体的错误信息或异常。

重启Gazebo和ROS：

有时重启整个仿真环境可以解决临时的问题。

确保环境变量正确：

使用echo $ROS_MASTER_URI和echo $ROS_HOSTNAME检查ROS环境变量。

手动在Gazebo中尝试添加模型：

直接在Gazebo的GUI中尝试添加模型，看是否能成功，这有助于确定问题是否出在spawn_model服务上。

检查网络配置：

如果ROS和Gazebo运行在不同的机器或容器上，确保它们之间的网络通信没有问题。

通过上述步骤，你应该能够定位问题的根源，并采取相应的措施来解决这个问题。如果问题依旧存在，可能需要更深入地检查Gazebo和ROS的集成配置或寻求社区的帮助。

以上为生成回答，仅供参考～

从您提供的日志和URDF文件来看，有几个关键点需要注意来解决您遇到的问题：

实体已存在错误：
日志中显示 "Spawn status: Entity [fishbot] already exists." 这意味着当您尝试启动仿真时，Gazebo中已有一个名为 fishbot 的实体存在。这通常发生在之前启动的Gazebo实例没有正确关闭，或者某个进程仍在后台运行。

解决方案：

确保在重新启动仿真前关闭所有Gazebo相关的进程。您可以使用命令如 pkill gzserver 和 pkill gzclient 来强制关闭这些进程。 检查是否有任何残留的ROS节点或话题可能仍在发布 /robot_description。您可以使用 ros2 node list 和 ros2 topic list 来查看当前活动的节点和话题。

URDF文件加载：
从您的URDF文件来看，您包含了多个组件和插件。如果Gazebo正确加载了URDF，它应该能够识别并模拟这些组件。但是，由于出现了实体已存在的错误，可能URDF文件根本没有被完整加载。

解决方案：

确保您的URDF文件路径和包含的文件路径都是正确的。 使用 xacro 工具检查URDF文件是否有语法错误。您可以在命令行中运行 xacro fishbot.urdf.xacro 来查看解析后的URDF，确保它看起来正确无误。

插件和功能未加载：
如果URDF文件正确加载，但某些功能（如传感器或控制插件）未显示，可能是因为相关的Gazebo插件没有正确配置或加载。

解决方案：

检查您的Gazebo插件是否正确安装，并且它们的路径在环境变量中正确设置。 查看Gazebo的日志文件（通常位于 ~/.gazebo/logs/），可能会有更详细的错误信息关于为什么插件没有加载。

重新启动和清理：
在解决了上述问题后，尝试完全重新启动您的ROS2和Gazebo环境，以确保所有设置都是最新的，并且没有残留的状态影响新的仿真。

检查ROS2参数和服务：
确保 /spawn_entity 服务可用，并且没有其他节点正在尝试同时使用该服务。您可以使用 ros2 service list 查看当前可用的服务。

通过上述步骤，您应该能够诊断并解决问题。如果问题仍然存在，可能需要更详细地检查您的ROS2包和Gazebo配置。

以上为生成回答，仅供参考～

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

这是我的gazebo_sim.launch.py文件，是不是错误

@2923733061

这个是终端信息
[INFO] [launch]: All log files can be found below /home/yywx/.ros/log/2025-01-23-21-38-01-120411-yywx-THUNDEROBOT-DT-Computer-31749
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gazebo-1]: process started with pid [31751]
[INFO] [spawn_entity.py-2]: process started with pid [31753]
[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]
[spawn_entity.py-2] [INFO] [1737639481.363345020] [spawn_entity]: Spawn Entity started
[spawn_entity.py-2] [INFO] [1737639481.363552549] [spawn_entity]: Loading entity XML from file /home/yywx/fishbot_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_gazebo.urdf
[spawn_entity.py-2] [INFO] [1737639481.364003208] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-2] [INFO] [1737639481.364135976] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-2] [INFO] [1737639481.867763540] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-2] [INFO] [1737639481.959349670] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot_1]
[gazebo-1] [INFO] [1737639482.068496261] [diff_drive]: Wheel pair 1 separation set to [0.200000m]
[gazebo-1] [INFO] [1737639482.068713833] [diff_drive]: Wheel pair 1 diameter set to [0.065000m]
[gazebo-1] [INFO] [1737639482.069244602] [diff_drive]: Subscribed to [/cmd_vel]
[gazebo-1] [INFO] [1737639482.070318787] [diff_drive]: Advertise odometry on [/odom]
[gazebo-1] [INFO] [1737639482.071706849] [diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gazebo-1] [INFO] [1737639482.071722493] [diff_drive]: Publishing wheel transforms between [base_footprint], [left_wheel_joint] and [right_wheel_joint]
[INFO] [spawn_entity.py-2]: process has finished cleanly [pid 31753]
[gazebo-1] [Msg] Waiting for master.
[gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gazebo-1] [Msg] Publicized address: 192.168.1.13
[gazebo-1] [Msg] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[gazebo-1] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call

当你遇到 Gazebo 在启动或加载模型时长时间无响应的问题时，可能是由于多种原因引起的。这里有一些可能的解决步骤和检查点，帮助你诊断并解决问题：

系统资源检查：

确保你的计算机有足够的CPU和内存资源来运行 Gazebo。复杂的模型和场景可能会消耗大量资源。 使用任务管理器（Windows）或系统监视器（Linux/Mac）查看CPU和内存使用情况。

Gazebo和依赖项版本：

确保你安装的 Gazebo 版本与你的操作系统和其他依赖项（如SDFormat、ODE、Simbody等）兼容。 尝试更新到最新版本的 Gazebo 和其依赖项。

模型文件检查：

确认下载的模型文件没有损坏，并且符合 Gazebo 的格式要求。 尝试加载其他模型或简单场景，看看是否问题依旧。

日志文件：

查看 Gazebo 的日志文件，通常位于 ~/.gazebo/logs/。这些日志可能包含有用的错误信息或警告。 检查是否有关于模型加载、物理引擎初始化或其他相关组件的错误。

网络问题：

如果模型是从网络下载的，确保你的网络连接稳定。 检查防火墙设置，确保没有阻止 Gazebo 的网络活动。

启动参数：

尝试使用不同的启动参数启动 Gazebo，例如增加调试输出或禁用某些组件。 例如，使用 gazebo --verbose 来启动 Gazebo，这可能提供更多关于发生了什么的线索。

环境变量：

检查环境变量设置，确保 Gazebo 能够正确找到模型库和其他必要的资源。 特别是 GAZEBO_MODEL_PATH 和 GAZEBO_RESOURCE_PATH 环境变量。

硬件加速：

如果你使用的是支持硬件加速的显卡，确保相关的驱动程序是最新的，并且 Gazebo 配置为使用这些硬件加速功能。

社区和论坛：

搜索 Gazebo 的官方论坛、Stack Overflow 或其他相关社区，看看是否有其他人遇到并解决了类似的问题。

如果以上步骤都不能解决问题，可能需要更详细地检查你的系统配置或考虑重新安装 Gazebo。在极端情况下，硬件故障（如坏掉的硬盘或内存）也可能是原因之一。

以上为生成回答，仅供参考～

@小伊 怎么设置抓取力

不客气！我很高兴我的回答对你有帮助。如果你有任何其他问题或需要进一步的帮助，请随时告诉我。

以上为生成回答，仅供参考～