6.5.2章节controller_manager启动错误

开心

错误日志（controller_manager节点未启动）：

tingbo@DESKTOP-NHH5E05:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py 
[INFO] [launch]: All log files can be found below /home/tingbo/.ros/log/2024-04-21-08-51-56-788969-DESKTOP-NHH5E05-53549
[INFO] [launch]: Default logging verbosity is set to INFO
/home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro
[INFO] [robot_state_publisher-1]: process started with pid [53559]
[INFO] [gzserver-2]: process started with pid [53561]
[INFO] [gzclient-3]: process started with pid [53563]
[INFO] [spawn_entity.py-4]: process started with pid [53565]
[robot_state_publisher-1] [INFO] [1713660717.309174822] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1713660717.309279822] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1713660717.309287622] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1713660717.309291422] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1713660717.309294622] [robot_state_publisher]: got segment camera_optical_link
[robot_state_publisher-1] [INFO] [1713660717.309297822] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1713660717.309300822] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1713660717.309304122] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1713660717.309307222] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1713660717.309310322] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1713660717.309313222] [robot_state_publisher]: got segment right_wheel_link
[gzclient-3] Gazebo multi-robot simulator, version 11.10.2
[gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation.
[gzclient-3] Released under the Apache 2 License.
[gzclient-3] http://gazebosim.org
[gzclient-3] 
[gzserver-2] Gazebo multi-robot simulator, version 11.10.2
[gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-2] Released under the Apache 2 License.
[gzserver-2] http://gazebosim.org
[gzserver-2] 
[spawn_entity.py-4] [INFO] [1713660717.741308120] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1713660717.741623420] [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] [1713660717.743272920] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1713660717.857605420] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1713660717.858030320] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1713660719.113670715] [spawn_entity]: Calling service /spawn_entity
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 172.18.192.236
[gzclient-3] [Wrn] [GuiIface.cc:120] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[gzserver-2] [Msg] Waiting for master.
[gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-2] [Msg] Publicized address: 172.18.192.236
[gzserver-2] [Msg] Loading world file [/home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzserver-2] [INFO] [1713660719.924237512] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info]
[gzserver-2] [INFO] [1713660719.925709812] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info]
[gzserver-2] [INFO] [1713660719.926327212] [depth_camera]: Publishing pointcloud to [/camera_sensor/points]
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzserver-2] [Err] [Plugin.hh:212] Failed to load plugin libgazebo_ros_ray_sensor.os: libgazebo_ros_ray_sensor.os: cannot open shared object file: No such file or directory
[spawn_entity.py-4] [INFO] [1713660720.044935411] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
[gzserver-2] [INFO] [1713660720.066235711] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-2] [INFO] [1713660720.072410111] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-2] [INFO] [1713660720.072523911] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-2] [INFO] [1713660720.077647911] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-2] [INFO] [1713660720.079397911] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-2] [INFO] [1713660720.079481211] [gazebo_ros2_control]: Loading parameter files /home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml
[gzserver-2] [ERROR] [1713660720.079710611] [gazebo_ros2_control]: parser error Couldn't parse params file: '--params-file /home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml'. Error: Cannot have a value before ros__parameters at line 1, at ./src/parse.c:793, at ./src/rcl/arguments.c:406
[gzserver-2] 
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 53565]
[gzserver-2] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.

fishbot_ros2_controller.yaml代码：

controller_manager:
ros_parameters:
  update_rate: 100
  use_sim_time: true

fishbot_ros2_control.xacro代码：

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:macro name="fishbot_ros2_control">
        <ros2_control name="FishBotGazeboSystem" type="system">
            <hardware>
                <plugin>gazebo_ros2_contro/GazeboSystem</plugin>
            </hardware>
            <joint name="left_wheel_joint">
                <command_interface name="velocity">
                    <param name="min">-1</param>
                    <param name="max">1</param>
                </command_interface>
                <command_interface name="effort">
                    <param name="min">-0.1</param>
                    <param name="max">0.1</param>
                </command_interface>
                <state_interface name="position" />
                <state_interface name="velocity" />
                <state_interface name="effort" />
            </joint>
            <joint name="right_wheel_joint">
                <command_interface name="velocity">
                    <param name="min">-1</param>
                    <param name="max">1</param>
                </command_interface>
                <command_interface name="effort">
                    <param name="min">-0.1</param>
                    <param name="max">0.1</param>
                </command_interface>
                <state_interface name="position" />
                <state_interface name="velocity" />
                <state_interface name="effort" />
            </joint>
        </ros2_control>
        <gazebo>
            <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
                <parameters>$(find fishbot_description)/config/fishbot_ros2_controller.yaml</parameters>
            </plugin>
        </gazebo>
    </xacro:macro>
    
</robot>

fishbot.urdf.xacro代码：

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fishbot">
    <xacro:include filename="$(find fishbot_description)/urdf/fishbot/base.urdf.xacro" />
    <!--传感器组件-->
    <xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/imu.urdf.xacro" />
    <xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/laser.urdf.xacro" />
    <xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/camera.urdf.xacro" />
    <xacro:base_xacro length="0.12" radius="0.1" />
    <!--传感器-->
    <xacro:imu_xacro xyz="0.0 0.0 0.02" />
    <xacro:laser_xacro xyz="0.0 0.0 0.1" />
    <xacro:camera_xacro xyz="0.1 0.0 0.075" />
    <!--执行器组件-->
    <xacro:include filename="$(find fishbot_description)/urdf/fishbot/actuator/wheel.urdf.xacro" />
    <xacro:include filename="$(find fishbot_description)/urdf/fishbot/actuator/caster.urdf.xacro" />
    <!--执行器主动轮+从动轮-->
    <xacro:wheel_xacro wheel_name="left" xyz="0.0 0.1 -0.06" />
    <xacro:wheel_xacro wheel_name="right" xyz="0.0 -0.1 -0.06" />
    <xacro:caster_xacro caster_name="front" xyz="0.08 0.0 -0.076" />
    <xacro:caster_xacro caster_name="back" xyz="-0.08 0.0 -0.076" />
    <!--gazebo插件-->
    <xacro:include filename="$(find fishbot_description)/urdf/fishbot/plugins/gazebo_control_plugin.xacro"/>
    <!--<xacro:gazebo_control_plugin />-->
    <!--激光雷达传感器插件-->
    <xacro:include filename="$(find fishbot_description)/urdf/fishbot/plugins/gazebo_sensor_plugin.xacro"/>
    <xacro:gazebo_sensor_plugin />
    <xacro:include filename="$(find fishbot_description)/urdf/fishbot/fishbot_ros2_control.xacro"/>
    <xacro:fishbot_ros2_control />
    
</robot>

gazebo_sim.launch.py代码：

import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource
import launch_ros.parameter_descriptions

def generate_launch_description():
    robot_name_in_model = "fishbot"
    urdf_tutorial_path = get_package_share_directory('fishbot_description')
    default_model_path = urdf_tutorial_path + '/urdf/fishbot/fishbot.urdf.xacro'
    default_world_path = urdf_tutorial_path + '/world/custom_room.world'
    print(str(default_model_path))
    action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
        name='model', default_value=str(default_model_path), description='URDF 的绝对路径')
    robot_description = launch_ros.parameter_descriptions.ParameterValue(
        launch.substitutions.Command(
            ['xacro ', launch.substitutions.LaunchConfiguration('model')]), value_type=str)
    robot_state_publisher_node = launch_ros.actions.Node(
        package='robot_state_publisher', 
        executable='robot_state_publisher', 
        parameters=[{'robot_description': robot_description}])
    launch_gazebo = launch.actions.IncludeLaunchDescription(
        PythonLaunchDescriptionSource([get_package_share_directory('gazebo_ros'), '/launch', 
                                       '/gazebo.launch.py']),
        launch_arguments=[('world', default_world_path), ('verbose', 'true')])
    spawn_entity_node = launch_ros.actions.Node(
        package='gazebo_ros', 
        executable='spawn_entity.py', 
        arguments=['-topic', '/robot_description', 
                   '-entity', robot_name_in_model, ])
    
    return launch.LaunchDescription([
        action_declare_arg_mode_path, 
        robot_state_publisher_node, 
        launch_gazebo,
        spawn_entity_node

    ])

开心

@43996173
已解决，yaml缩进错误

开心

@43996173
出现新问题配置的接口显示不出来

tingbo@DESKTOP-NHH5E05:~$ ros2 service list | grep /controller_manager
/controller_manager/configure_controller
/controller_manager/describe_parameters
/controller_manager/get_parameter_types
/controller_manager/get_parameters
/controller_manager/list_controller_types
/controller_manager/list_controllers
/controller_manager/list_hardware_components
/controller_manager/list_hardware_interfaces
/controller_manager/list_parameters
/controller_manager/load_controller
/controller_manager/reload_controller_libraries
/controller_manager/set_hardware_component_state
/controller_manager/set_parameters
/controller_manager/set_parameters_atomically
/controller_manager/switch_controller
/controller_manager/unload_controller
tingbo@DESKTOP-NHH5E05:~$ ros2 control list_hardware_interfaces
command interfaces
state interfaces

小鱼

@43996173 前置步骤日志提供一下

开心

@小鱼

tingbo@DESKTOP-NHH5E05:~/chapt6/chapt6_ws$ colcon build
Starting >>> fishbot_description
Finished <<< fishbot_description [0.11s]

Summary: 1 package finished [0.38s]
tingbo@DESKTOP-NHH5E05:~/chapt6/chapt6_ws$ source install/setup.bash
tingbo@DESKTOP-NHH5E05:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py 
[INFO] [launch]: All log files can be found below /home/tingbo/.ros/log/2024-04-21-10-55-39-949561-DESKTOP-NHH5E05-106839
[INFO] [launch]: Default logging verbosity is set to INFO
/home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro
[INFO] [robot_state_publisher-1]: process started with pid [106844]
[INFO] [gzserver-2]: process started with pid [106846]
[INFO] [gzclient-3]: process started with pid [106848]
[INFO] [spawn_entity.py-4]: process started with pid [106850]
[robot_state_publisher-1] [INFO] [1713668140.532106642] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1713668140.532299642] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1713668140.532313342] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1713668140.532317142] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1713668140.532321442] [robot_state_publisher]: got segment camera_optical_link
[robot_state_publisher-1] [INFO] [1713668140.532324742] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1713668140.532327942] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1713668140.532330942] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1713668140.532334242] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1713668140.532337642] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1713668140.532340742] [robot_state_publisher]: got segment right_wheel_link
[gzclient-3] Gazebo multi-robot simulator, version 11.10.2
[gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation.
[gzclient-3] Released under the Apache 2 License.
[gzclient-3] http://gazebosim.org
[gzclient-3] 
[gzserver-2] Gazebo multi-robot simulator, version 11.10.2
[gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-2] Released under the Apache 2 License.
[gzserver-2] http://gazebosim.org
[gzserver-2] 
[spawn_entity.py-4] [INFO] [1713668140.870628148] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1713668140.870960348] [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] [1713668140.873582048] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1713668140.886551848] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1713668140.886855548] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1713668142.648822078] [spawn_entity]: Calling service /spawn_entity
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 172.18.192.236
[gzclient-3] [Wrn] [GuiIface.cc:120] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[gzserver-2] [Msg] Waiting for master.
[gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-2] [Msg] Publicized address: 172.18.192.236
[gzserver-2] [Msg] Loading world file [/home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzserver-2] [INFO] [1713668143.464895391] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info]
[gzserver-2] [INFO] [1713668143.465899491] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info]
[gzserver-2] [INFO] [1713668143.466479391] [depth_camera]: Publishing pointcloud to [/camera_sensor/points]
[gzserver-2] [Err] [Plugin.hh:212] Failed to load plugin libgazebo_ros_ray_sensor.os: libgazebo_ros_ray_sensor.os: cannot open shared object file: No such file or directory
[spawn_entity.py-4] [INFO] [1713668143.541911792] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
[gzserver-2] [INFO] [1713668143.567741092] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-2] [INFO] [1713668143.572541292] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-2] [INFO] [1713668143.572617692] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-2] [INFO] [1713668143.577216292] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-2] [INFO] [1713668143.579580792] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-2] [INFO] [1713668143.579744992] [gazebo_ros2_control]: Loading parameter files /home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml
[gzserver-2] [ERROR] [1713668143.582587392] [gazebo_ros2_control]: The plugin failed to load for some reason. Error: According to the loaded plugin descriptions the class gazebo_ros2_contro/GazeboSystem with base class type gazebo_ros2_control::GazeboSystemInterface does not exist. Declared types are  gazebo_ros2_control/GazeboSystem
[gzserver-2] 
[gzserver-2] [INFO] [1713668143.582760192] [gazebo_ros2_control]: Loading controller_manager
[gzserver-2] [WARN] [1713668143.603561793] [gazebo_ros2_control]:  Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-2] [INFO] [1713668143.604235093] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 106850]

开心

@小鱼
gazebo_sensor_plugin.xacro代码：

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:macro name="gazebo_sensor_plugin">
        <gazebo reference="laser_link">
            <sensor name="laserscan" type="ray">
                <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
                    <ros>
                        <namespace>/</namespace>
                        <remapping>~/out:=scan</remapping>
                    </ros>
                    <output_type>sensor_msgs/LaserScan</output_type>
                    <frame_name>laser_link</frame_name>
                </plugin>
                <always_on>true</always_on>
                <visualize>true</visualize>
                <update_rate>5</update_rate>
                <pose>0 0 0 0 0 0</pose>
                <!--激光传感配置-->
                <ray>
                    <!--设置扫描范围-->
                    <scan>
                        <horizontal>
                            <samples>360</samples>
                            <resolution>1.000000</resolution>
                            <min_angle>0.000000</min_angle>
                            <max_angle>6.280000</max_angle>
                        </horizontal>
                    </scan>
                    <!--设置扫描距离-->
                    <range>
                        <min>0.120000</min>
                        <max>8.0</max>
                        <resolution>0.015000</resolution>
                    </range>
                    <!--设置噪声-->
                    <noise>
                        <type>gaussian</type>
                        <mean>0.0</mean>
                        <stddev>0.01</stddev>
                    </noise>
                </ray>
            </sensor>
            
        </gazebo>
        <gazebo reference="imu_link">
            <sensor name="imu_sensor" type="imu">
                <plugin name="imu_plugin" filename="libgazebo_ros_imu_sensor.so">
                    <ros>
                        <namespace>/</namespace>
                        <remapping>~/out:=imu</remapping>
                    </ros>

                    <initial_orientation_as_reference>false</initial_orientation_as_reference>
                </plugin>
                <update_rate>100</update_rate>
                <always_on>true</always_on>
                <!--六轴噪声设置-->
                <imu>
                    <angular_velocity>
                        <x>
                            <noise type="gaussian">
                                <mean>0.0</mean>
                                <stddev>2e-4</stddev>
                                <base_mean>0.0000075</base_mean>
                                <base_stddev>0.0000008</base_stddev>
                            </noise>
                        </x>
                        <y>
                            <noise type="gaussian">
                                <mean>0.0</mean>
                                <stddev>2e-4</stddev>
                                <base_mean>0.0000075</base_mean>
                                <base_stddev>0.0000008</base_stddev>
                            </noise>
                        </y>
                        <z>
                            <noise type="gaussian">
                                <mean>0.0</mean>
                                <stddev>2e-4</stddev>
                                <base_mean>0.0000075</base_mean>
                                <base_stddev>0.0000008</base_stddev>
                            </noise>
                        </z>
                    </angular_velocity>
                    <linear_acceleration>
                        <x>
                            <noise type="gaussian">
                                <mean>0.0</mean>
                                <stddev>1.7e-2</stddev>
                                <base_mean>0.1</base_mean>
                                <base_stddev>0.001</base_stddev>
                            </noise>
                        </x>
                        <y>
                            <noise type="gaussian">
                                <mean>0.0</mean>
                                <stddev>1.7e-2</stddev>
                                <base_mean>0.1</base_mean>
                                <base_stddev>0.001</base_stddev>
                            </noise>
                        </y>
                        <z>
                            <noise type="gaussian">
                                <mean>0.0</mean>
                                <stddev>1.7e-2</stddev>
                                <base_mean>0.1</base_mean>
                                <base_stddev>0.001</base_stddev>
                            </noise>
                        </z>
                    </linear_acceleration>
                </imu>
            </sensor>

        </gazebo>
        <gazebo reference="camera_link">
            <sensor type="depth" name="camera_sensor">
                <plugin name="depth_camera" filename="libgazebo_ros_camera.so">
                    <frame_name>camera_optical_link</frame_name>
                </plugin>
                <always_on>true</always_on>
                <update_rate>10</update_rate>
                <camera name="camera">
                    <horizontal_fov>1.5009831567</horizontal_fov>
                    <image>
                        <width>800</width>
                        <height>600</height>
                        <format>R8G8B8</format>
                    </image>
                    <distortion>
                        <k1>0.0</k1>
                        <k2>0.0</k2>
                        <k3>0.0</k3>
                        <p1>0.0</p1>
                        <p2>0.0</p2>
                        <center>0.5 0.5</center>
                    </distortion>
                </camera>
            </sensor>
        </gazebo>
    </xacro:macro>
</robot>

开心

@小鱼
改正so后运行：

tingbo@DESKTOP-NHH5E05:~/chapt6/chapt6_ws$ colcon build
Starting >>> fishbot_description
Finished <<< fishbot_description [0.09s]

Summary: 1 package finished [0.31s]
tingbo@DESKTOP-NHH5E05:~/chapt6/chapt6_ws$ source install/setup.bash
tingbo@DESKTOP-NHH5E05:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py 
[INFO] [launch]: All log files can be found below /home/tingbo/.ros/log/2024-04-21-11-08-30-453310-DESKTOP-NHH5E05-112821
[INFO] [launch]: Default logging verbosity is set to INFO
/home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro
[INFO] [robot_state_publisher-1]: process started with pid [112826]
[INFO] [gzserver-2]: process started with pid [112828]
[INFO] [gzclient-3]: process started with pid [112830]
[INFO] [spawn_entity.py-4]: process started with pid [112832]
[robot_state_publisher-1] [INFO] [1713668910.984501120] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1713668910.984607320] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1713668910.984615320] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1713668910.984619020] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1713668910.984622320] [robot_state_publisher]: got segment camera_optical_link
[robot_state_publisher-1] [INFO] [1713668910.984625620] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1713668910.984628720] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1713668910.984631920] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1713668910.984634920] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1713668910.984638020] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1713668910.984641020] [robot_state_publisher]: got segment right_wheel_link
[gzclient-3] Gazebo multi-robot simulator, version 11.10.2
[gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation.
[gzclient-3] Released under the Apache 2 License.
[gzclient-3] http://gazebosim.org
[gzclient-3] 
[gzserver-2] Gazebo multi-robot simulator, version 11.10.2
[gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-2] Released under the Apache 2 License.
[gzserver-2] http://gazebosim.org
[gzserver-2] 
[spawn_entity.py-4] [INFO] [1713668911.298643721] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1713668911.298954721] [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] [1713668911.300862021] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1713668911.312368921] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1713668911.312655221] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1713668912.818215129] [spawn_entity]: Calling service /spawn_entity
[gzserver-2] [Msg] Waiting for master.
[gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-2] [Msg] Publicized address: 172.18.192.236
[gzserver-2] [Msg] Loading world file [/home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 172.18.192.236
[gzclient-3] [Wrn] [GuiIface.cc:120] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzserver-2] [INFO] [1713668913.686980638] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info]
[gzserver-2] [INFO] [1713668913.687943438] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info]
[gzserver-2] [INFO] [1713668913.688370438] [depth_camera]: Publishing pointcloud to [/camera_sensor/points]
[spawn_entity.py-4] [INFO] [1713668913.764708139] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
[gzserver-2] [INFO] [1713668913.883463840] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-2] [INFO] [1713668913.888358440] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-2] [INFO] [1713668913.888440140] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-2] [INFO] [1713668913.893493440] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-2] [INFO] [1713668913.894273140] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-2] [INFO] [1713668913.894352040] [gazebo_ros2_control]: Loading parameter files /home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml
[gzserver-2] [ERROR] [1713668913.895896740] [gazebo_ros2_control]: The plugin failed to load for some reason. Error: According to the loaded plugin descriptions the class gazebo_ros2_contro/GazeboSystem with base class type gazebo_ros2_control::GazeboSystemInterface does not exist. Declared types are  gazebo_ros2_control/GazeboSystem
[gzserver-2] 
[gzserver-2] [INFO] [1713668913.896017740] [gazebo_ros2_control]: Loading controller_manager
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 112832]
[gzserver-2] [WARN] [1713668913.917713741] [gazebo_ros2_control]:  Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-2] [INFO] [1713668913.917941741] [gazebo_ros2_control]: Loaded gazebo_ros2_control.

小鱼

@43996173 The plugin failed to load for some reason. Error: According to the loaded plugin descriptions the class gazebo_ros2_contro/GazeboSystem with base class type gazebo_ros2_control::GazeboSystemInterface does not exist. Declared types are gazebo_ros2_control/GazeboSystem

检查下相关的拼写错误或者依赖都装了没

开心

@小鱼检察到了这里错了：

<plugin>gazebo_ros2_contro/GazeboSystem</plugin>