求助啊大佬们

[3568485143]

在用launch方法生成gazebo启动项和导入urdf文件时出现以下错误：
spawn_entity.py-2] [INFO] [spawn_entity]: Spawn Entity started
[spawn_entity.py-2] [INFO] [spawn_entity]: Loading entity XML from file /home/outerman1/fishbot_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_gazebo.urdf
[spawn_entity.py-2] Traceback (most recent call last):
[spawn_entity.py-2] File "/opt/ros/eloquent/lib/gazebo_ros/spawn_entity.py", line 362, in <module>
[spawn_entity.py-2] main()
[spawn_entity.py-2] File "/opt/ros/eloquent/lib/gazebo_ros/spawn_entity.py", line 357, in main
[spawn_entity.py-2] exit_code = spawn_entity_node.run()
[spawn_entity.py-2] File "/opt/ros/eloquent/lib/gazebo_ros/spawn_entity.py", line 140, in run
[spawn_entity.py-2] self.get_logger().error('Error: specified file %s does not exist', self.args.file)
[spawn_entity.py-2] TypeError: error() takes 2 positional arguments but 3 were given
[ERROR] [spawn_entity.py-2]: process has died [pid 40742, exit code 1, cmd '/opt/ros/eloquent/lib/gazebo_ros/spawn_entity.py -entity fishbot -file /home/outerman1/fishbot_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_gazebo.urdf --ros-args'].
launch文件如下：
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', 
    node_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

结果是：gazebo启动成功，但是未导入文件

[3568485143]

已解决，urdf的名称写错了

[1165420875]

@3568485143 请问应该如何修改呀

[3568485143]

@1165420875
gazebo.launch.py文件中那个urdf_name中的gazebo_base.urdf改成fishbot_base.urdf就可以了，我是这样的

[359647910]

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