gazebo启动报错

[甘铭]

... logging to /home/cf/.ros/log/fd366c34-f942-11ed-981f-d0abd5a8b650/roslaunch-cf-Lenovo-XiaoXinAir-15IML-2019-24765.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://cf-Lenovo-XiaoXinAir-15IML-2019:45419/

SUMMARY

PARAMETERS

• /gazebo/enable_ros_network: True
• /robot_description: <?xml version="1....
• /rosdistro: melodic
• /rosversion: 1.14.13
• /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [24779]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fd366c34-f942-11ed-981f-d0abd5a8b650
process[rosout-1]: started with pid [24790]
started core service [/rosout]
process[gazebo-2]: started with pid [24793]
process[gazebo_gui-3]: started with pid [24798]
process[urdf_spawner-4]: started with pid [24803]
process[joint_state_publisher-5]: started with pid [24804]
process[robot_state_publisher-6]: started with pid [24808]
Traceback (most recent call last):
File "/opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher", line 44, in <module>
jsp = joint_state_publisher.JointStatePublisher()
File "/opt/ros/melodic/lib/python2.7/dist-packages/joint_state_publisher/init.py", line 159, in init
robot = xml.dom.minidom.parseString(description)
File "/usr/lib/python2.7/xml/dom/minidom.py", line 1928, in parseString
return expatbuilder.parseString(string)
File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 940, in parseString
return builder.parseString(string)
File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 223, in parseString
parser.Parse(string, True)
UnicodeEncodeError: 'ascii' codec can't encode characters in position 7260-7265: ordinal not in range(128)
[ INFO] [1684830164.036816385]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1684830164.038012449]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1684830164.074130895]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1684830164.075474289]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[joint_state_publisher-5] process has died [pid 24804, exit code 1, cmd /opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/cf/.ros/log/fd366c34-f942-11ed-981f-d0abd5a8b650/joint_state_publisher-5.log].
log file: /home/cf/.ros/log/fd366c34-f942-11ed-981f-d0abd5a8b650/joint_state_publisher-5*.log
[INFO] [1684830164.374206, 0.000000]: Loading model XML from ros parameter robot_description
Traceback (most recent call last):
File "/opt/ros/melodic/lib/gazebo_ros/spawn_model", line 239, in <module>
exit_code = sm.run()
File "/opt/ros/melodic/lib/gazebo_ros/spawn_model", line 149, in run
xml_parsed = xml.etree.ElementTree.fromstring(model_xml)
File "/usr/lib/python2.7/xml/etree/ElementTree.py", line 1311, in XML
parser.feed(text)
File "/usr/lib/python2.7/xml/etree/ElementTree.py", line 1657, in feed
self._parser.Parse(data, 0)
UnicodeEncodeError: 'ascii' codec can't encode characters in position 7260-7265: ordinal not in range(128)
[ INFO] [1684830164.406616166]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1684830164.426881789, 0.007000000]: Physics dynamic reconfigure ready.
[urdf_spawner-4] process has died [pid 24803, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -urdf -model robot -param robot_description -x -0.1 -y -0.1 -z 0.05 -Y 1.571 __name:=urdf_spawner __log:=/home/cf/.ros/log/fd366c34-f942-11ed-981f-d0abd5a8b650/urdf_spawner-4.log].
log file: /home/cf/.ros/log/fd366c34-f942-11ed-981f-d0abd5a8b650/urdf_spawner-4*.log
gzclient: /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:630：virtual void Ogre::Node::setScale(const Ogre::Vector3&): 假设 ‘!inScale.isNaN() && "Invalid vector supplied as parameter"’ 失败。
Aborted (core dumped)
[gazebo_gui-3] process has died [pid 24798, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/cf/.ros/log/fd366c34-f942-11ed-981f-d0abd5a8b650/gazebo_gui-3.log].
log file: /home/cf/.ros/log/fd366c34-f942-11ed-981f-d0abd5a8b650/gazebo_gui-3*.log