控制代码无法控制gazebo里的小车

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分别用roslaunch启动gazebo环境，用python运行控制代码，小车不动
查看rqt_graph，三个结点gazebo、gazebo_gui、RUN互相没有连接。分别查看结点和话题信息如下：

(base) xxx@xxx-virtual-machine:~$ rosnode list
/RUN
/gazebo
/gazebo_gui
/rosout

(base) xxx@xxx-virtual-machine:~$ rosnode info RUN
--------------------------------------------------------------------------------
Node [/RUN]
Publications: 
 * /cmd_vel [geometry_msgs/Twist]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /camera/rgb/image_raw [unknown type]
 * /clock [rosgraph_msgs/Clock]

Services: 
 * /RUN/get_loggers
 * /RUN/set_logger_level


contacting node http://xxx-virtual-machine:39375/ ...
Pid: 116647
Connections:
 * topic: /clock
    * to: /gazebo (http://xxx-virtual-machine:42671/)
    * direction: inbound
    * transport: TCPROS

(base) xxx@xxx-virtual-machine:~$ rosnode info gazebo
--------------------------------------------------------------------------------
Node [/gazebo]
Publications: 
 * /clock [rosgraph_msgs/Clock]
 * /gazebo/link_states [gazebo_msgs/LinkStates]
 * /gazebo/model_states [gazebo_msgs/ModelStates]
 * /gazebo/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
 * /gazebo/parameter_updates [dynamic_reconfigure/Config]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /clock [rosgraph_msgs/Clock]
 * /gazebo/set_link_state [unknown type]
 * /gazebo/set_model_state [unknown type]

Services: 
 * /gazebo/apply_body_wrench
 * /gazebo/apply_joint_effort
 * /gazebo/clear_body_wrenches
 * /gazebo/clear_joint_forces
 * /gazebo/delete_light
 * /gazebo/delete_model
 * /gazebo/get_joint_properties
 * /gazebo/get_light_properties
 * /gazebo/get_link_properties
 * /gazebo/get_link_state
 * /gazebo/get_loggers
 * /gazebo/get_model_properties
 * /gazebo/get_model_state
 * /gazebo/get_physics_properties
 * /gazebo/get_world_properties
 * /gazebo/pause_physics
 * /gazebo/reset_simulation
 * /gazebo/reset_world
 * /gazebo/set_joint_properties
 * /gazebo/set_light_properties
 * /gazebo/set_link_properties
 * /gazebo/set_link_state
 * /gazebo/set_logger_level
 * /gazebo/set_model_configuration
 * /gazebo/set_model_state
 * /gazebo/set_parameters
 * /gazebo/set_physics_properties
 * /gazebo/spawn_sdf_model
 * /gazebo/spawn_urdf_model
 * /gazebo/unpause_physics


contacting node http://xxx-virtual-machine:42671/ ...
Pid: 114613
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound (43625 - 127.0.0.1:46868) [22]
    * transport: TCPROS
 * topic: /clock
    * to: /gazebo
    * direction: outbound
    * transport: INTRAPROCESS
 * topic: /clock
    * to: /rosout
    * direction: outbound (43625 - 127.0.0.1:47148) [44]
    * transport: TCPROS
 * topic: /clock
    * to: /RUN
    * direction: outbound (43625 - 127.0.0.1:50992) [77]
    * transport: TCPROS
 * topic: /clock
    * to: /gazebo (http://xxx-virtual-machine:42671/)
    * direction: inbound
    * transport: INTRAPROCESS

(base) xxx@xxx-virtual-machine:~$ rostopic info cmd_vel
Type: geometry_msgs/Twist

Publishers: 
 * /RUN (http://xxx-virtual-machine:39375/)

Subscribers: None

可以看到两个结点并没有互相找到
试图通过在两个终端分别使用如下命令让两个结点访问11311端口，但并没有起效

export ROS_HOSTNAME=localhost
export ROS_MASTER_URI=http://localhost:11311

请问应该如何操作使得控制结点与gazebo结点连接起来呢？

(不知道为什么第一个代码块不显示包裹后的效果）

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通过以下命令安装ros-gazebo接口，实现ros-gazebo通信

sudo apt install ros-melodic-gazebo-ros-pkgs  ros-melodic-gazebo-msgs  ros-melodic-gazebo-plugins  ros-melodic-gazebo-ros-control

参考资料

https://www.freesion.com/article/8223995772/

问题解决

小鱼

@1687028512