ros2@ros2-virtual-machine:~/gazebo7/gazebo7_ws$ ros2 launch fishbot_description gazebo_sim.launch.py
[INFO] [launch]: All log files can be found below /home/ros2/.ros/log/2025-04-07-23-46-46-340059-ros2-virtual-machine-3547
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [3552]
[INFO] [gzserver-2]: process started with pid [3554]
[INFO] [gzclient-3]: process started with pid [3556]
[INFO] [spawn_entity.py-4]: process started with pid [3558]
[robot_state_publisher-1] [INFO] [1744040807.377159369] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1744040807.377316455] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1744040807.377330418] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1744040807.377335661] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1744040807.377342463] [robot_state_publisher]: got segment camera_optical_link
[robot_state_publisher-1] [INFO] [1744040807.377346971] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1744040807.377351362] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1744040807.377355076] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1744040807.377361287] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1744040807.377365427] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1744040807.377369403] [robot_state_publisher]: got segment right_wheel_link
[spawn_entity.py-4] [INFO] [1744040807.856921505] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1744040807.857448486] [spawn_entity]: Loading entity published on topic /robot_description
[spawn_entity.py-4] [INFO] [1744040807.871811460] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1744040807.894062623] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1744040807.894447124] [spawn_entity]: Waiting for service /spawn_entity
[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] 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]
[gzserver-2] [Wrn] [gazebo_ros_init.cpp:178]
[gzserver-2] # # ####### ####### ### ##### #######
[gzserver-2] ## # # # # # # # #
[gzserver-2] # # # # # # # # #
[gzserver-2] # # # # # # # # #####
[gzserver-2] # # # # # # # # #
[gzserver-2] # ## # # # # # # #
[gzserver-2] # # ####### # ### ##### #######
[gzserver-2]
[gzserver-2] This version of Gazebo, now called Gazebo classic, reaches end-of-life
[gzserver-2] in January 2025. Users are highly encouraged to migrate to the new Gazebo
[gzserver-2] using our migration guides (https://gazebosim.org/docs/latest/gazebo_classic_migration?utm_source=gazebo_ros_pkgs&utm_medium=cli)
[gzserver-2]
[gzserver-2]
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 172.21.73.71
[gzclient-3] [Wrn] [GuiIface.cc:120] QSocketNotifier: Can only be used with threads started with QThread
[spawn_entity.py-4] [INFO] [1744040810.232075284] [spawn_entity]: Calling service /spawn_entity
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzserver-2] [Msg] Waiting for master.
[gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-2] [Msg] Publicized address: 172.21.73.71
[gzserver-2] [Msg] Loading world file [/home/ros2/gazebo7/gazebo7_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzserver-2] [INFO] [1744040811.065571074] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info]
[gzserver-2] [INFO] [1744040811.066522094] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info]
[gzserver-2] [INFO] [1744040811.066926896] [depth_camera]: Publishing pointcloud to [/camera_sensor/points]
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:139] EXCEPTION: Unable to create the rendering window
[gzclient-3]
[gzclient-3]
[gzclient-3] terminate called after throwing an instance of 'gazebo::common::Exception'
[spawn_entity.py-4] [INFO] [1744040811.432639054] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
[gzserver-2] [INFO] [1744040811.571190276] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-2] [INFO] [1744040811.582191083] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-2] [INFO] [1744040811.582267983] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-2] [INFO] [1744040811.594804268] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 3558]
[gzserver-2] [INFO] [1744040811.598949066] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-2] [INFO] [1744040811.599012201] [gazebo_ros2_control]: Loading parameter files /home/ros2/gazebo7/gazebo7_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml
[INFO] [ros2-5]: process started with pid [3689]
[gzserver-2] [INFO] [1744040811.623055913] [gazebo_ros2_control]: Loading joint: left_wheel_joint
[gzserver-2] [INFO] [1744040811.623122339] [gazebo_ros2_control]: State:
[gzserver-2] [INFO] [1744040811.623132355] [gazebo_ros2_control]: position
[gzserver-2] [INFO] [1744040811.623139197] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1744040811.623144468] [gazebo_ros2_control]: effort
[gzserver-2] [INFO] [1744040811.623153684] [gazebo_ros2_control]: Command:
[gzserver-2] [INFO] [1744040811.623774784] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1744040811.624008631] [gazebo_ros2_control]: effort
[gzserver-2] [INFO] [1744040811.624028777] [gazebo_ros2_control]: Loading joint: right_wheel_joint
[gzserver-2] [INFO] [1744040811.624035477] [gazebo_ros2_control]: State:
[gzserver-2] [INFO] [1744040811.624040860] [gazebo_ros2_control]: position
[gzserver-2] [INFO] [1744040811.624049887] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1744040811.624055967] [gazebo_ros2_control]: effort
[gzserver-2] [INFO] [1744040811.624060962] [gazebo_ros2_control]: Command:
[gzserver-2] [INFO] [1744040811.624069363] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1744040811.624195869] [gazebo_ros2_control]: effort
[gzserver-2] [INFO] [1744040811.624252902] [resource_manager]: Initialize hardware 'FishBotGazeboSystem'
[gzserver-2] [INFO] [1744040811.624399908] [resource_manager]: Successful initialization of hardware 'FishBotGazeboSystem'
[gzserver-2] [INFO] [1744040811.624490014] [resource_manager]: 'configure' hardware 'FishBotGazeboSystem'
[gzserver-2] [INFO] [1744040811.624500280] [resource_manager]: Successful 'configure' of hardware 'FishBotGazeboSystem'
[gzserver-2] [INFO] [1744040811.624505277] [resource_manager]: 'activate' hardware 'FishBotGazeboSystem'
[gzserver-2] [INFO] [1744040811.624509810] [resource_manager]: Successful 'activate' of hardware 'FishBotGazeboSystem'
[gzserver-2] [INFO] [1744040811.625969242] [gazebo_ros2_control]: Loading controller_manager
[gzserver-2] [WARN] [1744040811.697825097] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-2] [INFO] [1744040811.698014270] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[ERROR] [gzclient-3]: process has died [pid 3556, exit code -6, cmd 'gzclient --gui-client-plugin=libgazebo_ros_eol_gui.so --verbose'].
[gzclient-3]
[gzserver-2] [INFO] [1744040812.658632607] [controller_manager]: Loading controller 'fishbot_joint_state_broadcaster'
[gzserver-2] [INFO] [1744040812.699560842] [controller_manager]: Configuring controller 'fishbot_joint_state_broadcaster'
[gzserver-2] [INFO] [1744040812.700391520] [fishbot_joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2-5] Successfully loaded controller fishbot_joint_state_broadcaster into state active
[INFO] [ros2-5]: process has finished cleanly [pid 3689]
[INFO] [ros2-6]: process started with pid [3731]
[ros2-6] [INFO] [1744040813.862104856] [_ros2cli_3731]: waiting for service /controller_manager/load_controller to become available...
[gzserver-2] [INFO] [1744040815.114848376] [controller_manager]: Loading controller 'fishbot_diff_drive_controller'
[gzserver-2] [INFO] [1744040815.156646427] [controller_manager]: Configuring controller 'fishbot_diff_drive_controller'
[ros2-6] Successfully loaded controller fishbot_diff_drive_controller into state active
[INFO] [ros2-6]: process has finished cleanly [pid 3731]
[gzserver-2] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
请问这个报错怎么解决呢