请问gazebo无法显示静止的长方体模型如何解决：CCS for 3D textures is disabled, but a workaround is available？

彼岸

输出的日志信息如下：

[INFO] [launch]: All log files can be found below /home/fins/.ros/log/2023-03-23-19-25-48-762078-fins-UTG-11522
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [11523]
[INFO] [gzserver-2]: process started with pid [11525]
[INFO] [gzclient-3]: process started with pid [11527]
[INFO] [spawn_entity.py-4]: process started with pid [11529]
[robot_state_publisher-1] [INFO] [1679570749.093074638] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1679570749.093129855] [robot_state_publisher]: got segment dummy
[robot_state_publisher-1] [INFO] [1679570749.093135121] [robot_state_publisher]: got segment front_link
[spawn_entity.py-4] [INFO] [1679570749.351752070] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1679570749.351941495] [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] [1679570749.352830954] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1679570749.478006085] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1679570749.478191540] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1679570750.231305805] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-4] [INFO] [1679570750.400439868] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [rectangle]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 11529]
[gzclient-3] ../src/intel/isl/isl.c:2216: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: 
CCS for 3D textures is disabled, but a workaround is available.
code_text

下面是具体的launch文件与urdf模型

1、这是长方体的urdf文件：

<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="demo1-3">

  <link name="dummy"> 
  </link>

  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.059269 -0.004969 0.17749"
        rpy="0 0 0" />
      <mass
        value="1.746" />
      <inertia
        ixx="0.0029237"
        ixy="3.8969E-05"
        ixz="-6.1279E-19"
        iyy="0.0063175"
        iyz="9.5233E-20"
        izz="0.0062493" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://gazebo_simulation/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://gazebo_simulation/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="dummy_joint" type="fixed">
     <parent link="dummy"/>
     <child link="base_link"/>
  </joint>

  <link
    name="front_link">
    <inertial>
      <origin
        xyz="0.0022355 0.01995 -0.00025958"
        rpy="0 0 0" />
      <mass
        value="0.071103" />
      <inertia
        ixx="1.4695E-05"
        ixy="-5.6331E-22"
        ixz="-2.0294E-22"
        iyy="2.6451E-05"
        iyz="-5.6257E-22"
        izz="3.0622E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://gazebo_simualtion/meshes/front_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://gazebo_simulation/meshes/front_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="line_joint"
    type="fixed">
    <origin
      xyz="0.077552 -0.17785 0.016113"
      rpy="1.5708 0 0" />
    <parent
      link="base_link" />
    <child
      link="front_link" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>
'''

2、然后launch文件如下：
（1）view_gazebo_tribot.launch.py

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource

from launch_ros.actions import Node

def generate_launch_description():

# Include the robot_state_publisher launch file, provided by our own package. Force sim time to be enabled
# !!! MAKE SURE YOU SET THE PACKAGE NAME CORRECTLY !!!

package_name='gazebo_simulation' #<--- CHANGE ME
world_file_path = 'worlds/neighborhood.world'

pkg_path = os.path.join(get_package_share_directory(package_name))
world_path = os.path.join(pkg_path, world_file_path)  

# Pose where we want to spawn the robot
spawn_x_val = '0.0'
spawn_y_val = '0.0'
spawn_z_val = '0.0'
spawn_yaw_val = '0.0'
tribot = IncludeLaunchDescription(
            PythonLaunchDescriptionSource([os.path.join(
                get_package_share_directory(package_name),'launch','tribot.launch.py'
            )]), launch_arguments={'use_sim_time': 'true', 'world':world_path}.items()
)

# Include the Gazebo launch file, provided by the gazebo_ros package
gazebo = IncludeLaunchDescription(
            PythonLaunchDescriptionSource([os.path.join(
                get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
         )

# Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.
spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
                    arguments=['-topic', 'robot_description',
                               '-entity', 'rectangle',
                               '-x', spawn_x_val,
                               '-y', spawn_y_val,
                               '-z', spawn_z_val,
                               '-Y', spawn_yaw_val],
                    output='screen')



# Launch them all!
return LaunchDescription([
    tribot,
    gazebo,
    spawn_entity,
])

其中调用的tribot.launch.py文件如下：

import os

from ament_index_python.packages import get_package_share_directory
import launch
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node

import xacro

def generate_launch_description():

# Check if we're told to use sim time
use_sim_time = LaunchConfiguration('use_sim_time')

# Process the URDF file
pkg_path = os.path.join(get_package_share_directory('gazebo_simulation'))
xacro_file = os.path.join(pkg_path,'urdf','demo1-3.urdf')
robot_description_config = xacro.process_file(xacro_file)

# Create a robot_state_publisher node
params = {'robot_description': robot_description_config.toxml(), 'use_sim_time': use_sim_time}
node_robot_state_publisher = Node(
    package='robot_state_publisher',
    executable='robot_state_publisher',
    output='screen',
    parameters=[params]
)

# Launch!
return LaunchDescription([
    DeclareLaunchArgument(
        'use_sim_time',
        default_value='false',
        description='Use sim time if true'),

    node_robot_state_publisher
])