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    在gazebo中无法加载模型

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    ROS 2相关问题
    gazebo ros2 hamble
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    • 29180954962
      天问
      最后由 编辑

      环境：Ubuntu22.04 humble
      在根据小鱼链接文本教程学习ROS2时，gazebo无法加载出模型，下面是一些报错。
      [INFO] [launch]: All log files can be found below /home/wl/.ros/log/2023-07-03-14-54-37-699287-aq-53026
      [INFO] [launch]: Default logging verbosity is set to INFO
      [INFO] [gazebo-1]: process started with pid [53027]
      [INFO] [spawn_entity.py-2]: process started with pid [53029]
      [spawn_entity.py-2] [INFO] [1688367278.230553413] [spawn_entity]: Spawn Entity started
      [spawn_entity.py-2] [INFO] [1688367278.230850288] [spawn_entity]: Loading entity XML from file /home/wl/Documents/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/humble/lib/gazebo_ros/spawn_entity.py", line 370, in <module>
      [spawn_entity.py-2] main()
      [spawn_entity.py-2] File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 365, in main
      [spawn_entity.py-2] exit_code = spawn_entity_node.run()
      [spawn_entity.py-2] File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 143, 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: RcutilsLogger.error() takes 2 positional arguments but 3 were given
      [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]
      [ERROR] [spawn_entity.py-2]: process has died [pid 53029, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -entity fishbot -file /home/wl/Documents/fishbot_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_gazebo.urdf --ros-args'].
      [gazebo-1] [Msg] Waiting for master.
      [gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
      [gazebo-1] [Msg] Publicized address: 192.168.0.130
      [gazebo-1] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
      [gazebo-1] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
      [gazebo-1] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
      屏幕截图 2023-07-03 150610.png

      29180954962 1 条回复 最后回复 回复 引用 0
      • 8925307318
        梦阁一456
        最后由 编辑

        试试安装
        sudo apt install qtwayland5

        29180954962 2 条回复 最后回复 回复 引用 0
        • 29180954962
          天问 @892530731
          最后由 编辑

          @892530731 你好，谢谢，我安装了，原来那个报错还是存在的，依然无法加载模型出来。现在又增加了新的问题，gazebo闪退，提示如下：
          [spawn_entity.py-2] Traceback (most recent call last):
          [spawn_entity.py-2] File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 370, in <module>
          [spawn_entity.py-2] main()
          [spawn_entity.py-2] File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 365, in main
          [spawn_entity.py-2] exit_code = spawn_entity_node.run()
          [spawn_entity.py-2] File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 143, 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: RcutilsLogger.error() takes 2 positional arguments but 3 were given
          [ERROR] [spawn_entity.py-2]: process has died [pid 6701, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -entity fishbot -file /home/wl/Documents/fishbot_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_gazebo.urdf --ros-args'].
          [gazebo-1] [Msg] Waiting for master.
          [gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
          [gazebo-1] [Msg] Publicized address: 192.168.0.130
          [gazebo-1] [Wrn] [GuiIface.cc:120] QSocketNotifier: Can only be used with threads started with QThread
          [gazebo-1] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
          [gazebo-1] [Err] [WindowManager.cc:132] Unable to create the rendering window
          [gazebo-1] [Err] [WindowManager.cc:132] Unable to create the rendering window
          [gazebo-1] [Err] [WindowManager.cc:132] Unable to create the rendering window
          [gazebo-1] [Err] [WindowManager.cc:132] Unable to create the rendering window
          [gazebo-1] [Err] [WindowManager.cc:132] Unable to create the rendering window
          [gazebo-1] [Err] [WindowManager.cc:132] Unable to create the rendering window
          [gazebo-1] [Err] [WindowManager.cc:132] Unable to create the rendering window
          [gazebo-1] [Err] [WindowManager.cc:132] Unable to create the rendering window
          [gazebo-1] [Err] [WindowManager.cc:132] Unable to create the rendering window
          [gazebo-1] [Err] [WindowManager.cc:132] Unable to create the rendering window
          [gazebo-1] [Err] [WindowManager.cc:139] EXCEPTION: Unable to create the rendering window
          [gazebo-1]
          [gazebo-1]
          [gazebo-1] terminate called after throwing an instance of 'gazebo::common::Exception'
          [gazebo-1] [Msg] Waiting for master.
          [gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
          [gazebo-1] [Msg] Publicized address: 192.168.0.130
          [gazebo-1] [Msg] Loading world file [/usr/share/gazebo-11/worlds/empty.world]
          [ERROR] [gazebo-1]: process has died [pid 6699, exit code 255, cmd 'gazebo --verbose -s libgazebo_ros_init.so -s libgazebo_ros_factory.so'].
          [gazebo-1]

          1 条回复 最后回复 回复 引用 0
          • 29180954962
            天问 @892530731
            最后由 编辑

            @892530731 我又把这个包卸载了，我的gazebo不闪退了，但是还是无法加载出模型，可能这个方法不太适合我出现的这个问题，再次感谢。

            1 条回复 最后回复 回复 引用 0
            • 29180954962
              天问 @2918095496
              最后由 编辑

              @2918095496 补充一下，使用小鱼的rqt call的方法可以在gazebo中加载出模型，但是加载出来的模型不完整，没有左右轮子。求帮助！

              1 条回复 最后回复 回复 引用 1
              • 7593230617
                759323061
                最后由 编辑

                我和你一样的报错，你先把conda退出来
                “conda deactivate”
                试试

                29180954962 1 条回复 最后回复 回复 引用 0
                • 29180954962
                  天问 @759323061
                  最后由 编辑

                  @759323061我不太明白你说的操作，能具体一点吗，感谢！

                  7593230617 1 条回复 最后回复 回复 引用 0
                  • 7593230617
                    759323061 @2918095496
                    最后由 编辑

                    @2918095496 就是比平时多一步，再每个要用到的终端里输入conda deactivate，就行或者直接把miniconda卸载就行

                    29180954962 2 条回复 最后回复 回复 引用 2
                    • 29180954962
                      天问 @759323061
                      最后由 编辑

                      @759323061 我的运行没有这个命令，应该是我没有装这个。

                      1 条回复 最后回复 回复 引用 0
                      • 29180954962
                        天问 @759323061
                        最后由 编辑

                        @759323061 是我的加载路径被我给搞错了，所以一直没有模型。谢谢你的帮助

                        13712468281 1 条回复 最后回复 回复 引用 0
                        • 13712468281
                          男孩与狗 @2918095496
                          最后由 编辑

                          您好，请问最后这个问题怎么解决的呢，我跟您这个问题一模一样

                          9973981929 1 条回复 最后回复 回复 引用 0
                          • 9973981929
                            别 @1371246828
                            最后由 编辑

                            @1371246828 urdf_model_path = '/home/ws_test/rviz_test/src/fishbot_description/urdf/fishbot_gazebo.urdf'直接变成自己的加载路径试一下

                            1 条回复 最后回复 回复 引用 0
                            • R
                              Rolling
                              最后由 编辑

                              找到launch.py将urdf_model_path后的路径换成urdf文件的绝对路径

                              1 条回复 最后回复 回复 引用 0
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