教材6.4.2在Gazebo中加载机器人，构建完成功能包后启动gazebo_sim.launch.py显示找不到gazebo_ros功能包

DDDDDDDDkiss

###标题：在Gazebo中加载机器人，构建完成功能包后启动gazebo_sim.launch.py显示找不到gazebo_ros功能包

背景(可选)：想要在复现6.4.2章节，在Gazebo中加载机器人模型

问题描述：

构建完成功能包后启动gazebo_sim.launch.py提示找不到gazebo_ros功能包

具体细节和上下文：

具体报错如下
[INFO] [launch]: All log files can be found below /home/dong/.ros/log/2024-09-21-16-11-36-579653-dong-virtual-machine-6749
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [py]:

PackageNotFoundError: "package 'gazebo_ros' not found, searching: ['/home/dong/chapt6/chapt6_ws/install/fishbot_description', '/opt/ros/humble']"
InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown

尝试过的解决方法：

可能是因为gazebo-ros-pkgs插件没有装好，在运行sudo apt install ros-$ROS_DISTRO-gazebo-ros-pkgs
后显示

1. 检查ROS版本和Gazebo版本

首先，确保你的ROS版本和Gazebo版本是兼容的。在你的情况中，你使用的是ROS Humble（基于Ubuntu 22.04），你需要确保安装的Gazebo版本与ROS Humble兼容。

2. 安装Gazebo和gazebo_ros_pkgs

由于你尝试通过sudo apt install ros-$ROS_DISTRO-gazebo-ros-pkgs安装软件包时遇到了404错误，这通常意味着该软件包在官方源中不存在或者源未正确配置。

对于ROS Humble，你应该使用ros-humble-gazebo-ros-pkgs来安装。但是，更常见的是单独安装Gazebo和相关的ROS插件。你可以尝试以下命令：

sudo apt update
sudo apt install ros-humble-desktop-full  # 安装ROS Humble完整桌面环境
sudo apt install gazebo11               # 安装Gazebo 11（检查适用于你ROS版本的Gazebo版本）
sudo apt install ros-humble-gazebo-ros-control  # 安装gazebo_ros_control等插件
sudo apt install ros-humble-gazebo-ros-pkgs  # 尝试再次安装gazebo_ros_pkgs

注意：Gazebo的版本可能根据你的ROS版本而有所不同。对于ROS Humble，推荐使用Gazebo 11。

3. 检查环境变量

确保你的ROS环境变量设置正确。你可以通过以下命令来设置（如果它们还没有被设置）：

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

4. 检查launch文件

报错中还提到了InvalidFrontendLaunchFileError，这可能是因为你的gazebo_sim.launch.py文件中有语法错误或者格式不正确。确保该文件是一个有效的Python launch文件，并且所有的引用都是正确的。

5. 清理和重建工作空间

有时候，工作空间中的旧文件或配置可能会干扰新的安装。尝试清理你的工作空间并重新构建：

cd ~/chapt6_ws
catkin clean
catkin build
source devel/setup.bash

6. 查看文档和社区支持

如果上述步骤仍然不能解决问题，建议查看ROS和Gazebo的官方文档，或者在ROS社区论坛（如ROS Answers）上寻求帮助。

希望这些步骤能帮助你解决问题！如果还有其他问题，欢迎继续提问。

以上为生成回答，仅供参考～

DDDDDDDDkiss

@小伊谢谢，这个问题解决了，但是又遇到一个新问题
问题描述：
尝试加载 'fishbot.urdf.xacro' 的文件时，找不到该文件
具体细节：
在运行gazebo_sim.launch.py文件时出现如下错误
[INFO] [launch]: All log files can be found below /home/dong/.ros/log/2024-09-21-21-55-25-883495-dong-virtual-machine-12505
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): file not found: [Errno 2] No such file or directory: 'xacro/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro'

尝试过的解决办法：
构建功能包后，利用xacro将fishbot.urdf.xacro转换成URDF格式，但还是不行，并且fishbot.urdf.xacro确定是在该路径下

机器人小伊

从你提供的错误信息来看，问题出在文件路径的处理上。错误信息中显示的路径 'xacro/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro' 看起来像是路径拼接错误，因为它以 'xacro/' 开头，这通常不是文件系统中的实际路径。

解决步骤

检查launch文件：
打开你的 gazebo_sim.launch.py 文件（或任何启动文件），查找引用 fishbot.urdf.xacro 文件的部分。确保文件路径是正确的。通常，你应该在 xacro 标签中指定文件的相对或绝对路径。例如：
```
<param name="robot_description" command="$(find xacro)/xacro.py '$(find fishbot_description)/urdf/fishbot/fishbot.urdf.xacro'" />
```
注意这里使用了 $(find ...) 来查找包的路径，这样可以确保无论工作空间的位置如何，都能正确地找到文件。
检查文件位置：
确保 fishbot.urdf.xacro 文件确实位于 ~/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/ 路径下。你可以使用 ls 命令来验证这一点：
```
ls ~/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro
```
如果文件不存在，你需要检查你的构建过程是否成功地将文件安装到了正确的位置。
重新构建工作空间：
如果文件位置正确但问题依旧，尝试重新构建你的工作空间：
```
cd ~/chapt6/chapt6_ws
catkin clean
catkin build
source devel/setup.bash
```
确保在构建完成后重新加载环境变量。
检查ROS环境变量：
确保 ROS_PACKAGE_PATH 环境变量包含了你的工作空间的 src 目录。你可以通过打印该环境变量来检查：
```
echo $ROS_PACKAGE_PATH
```
如果未包含，你可能需要添加它到你的 .bashrc 或 .bash_profile 文件中。
检查权限问题：
确保你有足够的权限访问该文件。你可以使用 chmod 和 chown 命令来修改文件权限和所有权。
运行仿真：
在完成上述步骤后，尝试再次运行你的 gazebo_sim.launch.py 文件。

如果以上步骤都不能解决问题，你可能需要查看更详细的调试信息或日志，以确定问题的根源。

以上为生成回答，仅供参考～

DDDDDDDDkiss

此回复已被删除！

机器人小伊

您遇到的错误 [Err] [WindowManager.cc:132] Unable to create the rendering window 和 [ERROR] [gzclient-3]: process has died [pid 22432, exit code -6, cmd 'gzclient --verbose'] 表明 Gazebo 的图形用户界面（GUI）无法正确创建渲染窗口。这通常与图形驱动、环境设置或资源限制有关。以下是一些可能的解决步骤：

检查图形驱动：
- 确保您的系统安装了正确的图形驱动，并且是最新的。如果您使用的是 NVIDIA 显卡，请确保安装了 NVIDIA 驱动。
- 如果您是在虚拟机中运行 Gazebo，请确保虚拟机的图形内存分配足够（例如，在 VMware 或 VirtualBox 中增加显存）。
使用软件渲染：
- 尝试使用软件渲染而不是硬件加速。这可以通过设置环境变量 MESA_GL_VERSION_OVERRIDE 来实现，尽管这通常不推荐用于生产环境，因为它会降低性能。
- 在命令行中运行：export MESA_GL_VERSION_OVERRIDE=3.3 compatible profile，然后再次尝试启动 Gazebo。
检查资源限制：
- 确保系统没有资源限制（如内存不足、CPU 使用率过高等）。
- 使用系统监视工具（如 top, htop, free -m）来检查资源使用情况。
使用 Xvfb（如果不需要 GUI）：
- 如果您不需要 GUI，可以考虑使用 Xvfb（X Virtual Framebuffer）来运行 Gazebo。这可以通过在 .bashrc 或 .zshrc 文件中设置 export DISPLAY=:99.0 和使用 Xvfb :99 -screen 0 1024x768x24 & 来启动 Xvfb 实现。
检查 Gazebo 和 ROS 的版本兼容性：
- 确保您安装的 Gazebo 和 ROS 版本是相互兼容的。有时候，新版本的 ROS 可能不完全支持最新版本的 Gazebo，或者需要特定的配置。
查看日志文件：
- 检查 Gazebo 和 ROS 的日志文件，看是否有更详细的错误信息。这些日志文件通常位于 ~/.ros/log/ 目录下。
重新安装 Gazebo：
- 如果上述步骤都不能解决问题，尝试卸载并重新安装 Gazebo。
搜索相似问题：
- 在网上搜索类似的错误信息和解决方案，看看是否有其他用户遇到过相同的问题。

希望这些步骤能帮助您解决问题！如果问题仍然存在，请提供更多的系统信息和配置细节，以便进一步分析。

以上为生成回答，仅供参考～

DDDDDDDDkiss

@小伊

问题描述：
无法正常运行gazebo

具体细节：
在运行gazebo_sim.launch.py文件后出现如下报错
[INFO] [launch]: All log files can be found below /home/dong/.ros/log/2024-09-21-22-44-09-074887-dong-virtual-machine-15762
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [15774]
[INFO] [gzserver-2]: process started with pid [15776]
[INFO] [gzclient-3]: process started with pid [15778]
[INFO] [spawn_entity.py-4]: process started with pid [15780]
[robot_state_publisher-1] [INFO] [1726929850.319091967] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1726929850.319458358] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1726929850.319499604] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1726929850.319515421] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1726929850.319529850] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1726929850.319544763] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1726929850.319558126] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1726929850.319571809] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1726929850.319585744] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1726929850.319598997] [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] [1726929851.170673259] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1726929851.171509323] [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] [1726929851.175384518] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1726929851.293758343] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1726929851.294983414] [spawn_entity]: Waiting for 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: 192.168.137.130
[gzserver-2] Error [parser.cc:749] Could not find model.config or manifest.xml in [/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] Error [parser.cc:397] File [] doesn't exist.
[gzserver-2] [Err] [Server.cc:479] Unable to read sdf file[/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] [Wrn] [Server.cc:381] Falling back on worlds/empty.world
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 192.168.137.130
[gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
[spawn_entity.py-4] [INFO] [1726929852.555628969] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-4] [INFO] [1726929852.767343471] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 15780]
[gzclient-3] context mismatch in svga_surface_destroy
[gzclient-3] context mismatch in svga_surface_destroy
[gzclient-3] context mismatch in svga_surface_destroy
[gzclient-3] context mismatch in svga_surface_destroy
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[INFO] [gzclient-3]: process has finished cleanly [pid 15778]
[gzclient-3]
[gzclient-3]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1726929963.194552833] [rclcpp]: signal_handler(signum=2)
[gzserver-2] [Msg] Loading world file [/usr/share/gazebo-11/worlds/empty.world]
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 15774]
[INFO] [gzserver-2]: process has finished cleanly [pid 15776]
[gzserver-2]
[gzserver-2]

在安装qtwayland5即sudo apt-get install qtwayland5后再次运行程序出现如下报错：

[INFO] [launch]: All log files can be found below /home/dong/.ros/log/2024-09-21-23-57-37-636102-dong-virtual-machine-22426
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [22428]
[INFO] [gzserver-2]: process started with pid [22430]
[INFO] [gzclient-3]: process started with pid [22432]
[INFO] [spawn_entity.py-4]: process started with pid [22434]
[robot_state_publisher-1] [INFO] [1726934259.090423074] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1726934259.091564628] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1726934259.091668863] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1726934259.091686071] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1726934259.091694315] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1726934259.091724412] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1726934259.091740840] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1726934259.091749568] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1726934259.091757052] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1726934259.091764544] [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] [1726934260.028990229] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1726934260.029878669] [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] [1726934260.039814343] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1726934260.063932616] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1726934260.067932820] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1726934261.353630072] [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: 192.168.137.130
[gzclient-3] [Wrn] [GuiIface.cc:120] QSocketNotifier: Can only be used with threads started with QThread
[spawn_entity.py-4] [INFO] [1726934261.565882792] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 22434]
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:139] EXCEPTION: Unable to create the rendering window
[gzclient-3]
[gzclient-3]
[gzclient-3] terminate called after throwing an instance of 'gazebo::common::Exception'
[ERROR] [gzclient-3]: process has died [pid 22432, exit code -6, cmd 'gzclient --verbose'].
[gzclient-3]

机器人小伊

从您提供的错误信息和日志中，我们可以看到几个关键的问题点，这些问题导致了 Gazebo 无法正常运行。下面是一些分析和建议的解决步骤：

1. `model.config` 或 `manifest.xml` 文件缺失

错误信息：

[gzserver-2] Error [parser.cc:749] Could not find model.config or manifest.xml in [/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] Error [parser.cc:397] File [] doesn't exist.
[gzserver-2] [Err] [Server.cc:479] Unable to read sdf file[/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]

解决步骤：

检查 /home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world 文件的路径和内容。确认这个文件是一个 SDF (Simulation Description Format) 文件，而不是 XML 文件或其他类型。
如果 custom_room.world 应该是一个包含机器人模型的世界文件，它应该引用模型文件而不是包含模型定义。通常，模型定义在 .urdf 或 .sdf 文件中，并通过 <include> 标签在 .world 文件中引用。
检查模型文件（如 URDF 或 SDF）是否存在，并确保它们的路径在 .world 文件中正确引用。

2. Qt 平台插件问题

错误信息：

[gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
[gzclient-3] [Wrn] [GuiIface.cc:120] QSocketNotifier: Can only be used with threads started with QThread

解决步骤：

这些警告可能表明 Gazebo 客户端（gzclient）在尝试使用 Qt GUI 时遇到了问题。首先，确保您的系统安装了所有必要的 Qt 库和插件。
尝试运行 export QT_DEBUG_PLUGINS=1 并在运行 gzclient 之前设置此环境变量，以查看更详细的插件加载信息。
如果您正在使用虚拟机，请确保虚拟机配置支持 GUI 应用程序。

3. 渲染窗口创建失败

错误信息：

[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
...
[gzclient-3] terminate called after throwing an instance of 'gazebo::common::Exception'

解决步骤：

这通常与图形驱动或硬件加速设置有关。尝试更新您的图形驱动程序。
如果您在虚拟机中运行 Gazebo，请确保分配给虚拟机的视频内存足够，并且启用了 3D 加速。
检查是否有其他图形密集型应用程序正在运行，这些应用程序可能会占用大量 GPU 资源。

总结

解决这些问题可能需要一些系统级的配置和调试。首先，确保所有文件路径和类型都是正确的，并且所有必要的库和插件都已安装。其次，检查图形驱动程序和硬件加速设置。最后，如果问题仍然存在，您可能需要考虑在更强大的硬件或更稳定的操作系统环境中运行 Gazebo。

以上为生成回答，仅供参考～

小鱼

@DDDDDDDDkiss 第一章安装ROS，你跟着做了吗

小鱼

@DDDDDDDDkiss 在教材6.4.2在Gazebo中加载机器人，构建完成功能包后启动gazebo_sim.launch.py显示找不到gazebo_ros功能包中说：

'xacro/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro'

这个代码是手写的吗，注意 xacro 后面有一个空格，你忘记输入了

DDDDDDDDkiss

@小鱼是的，忘记了一个空格

DDDDDDDDkiss

@小鱼没有，我是九月初开始学习的ros2，第一次接触，然后在b站找教程，看了很多后才发现您的《ROS2机器人开发从入门到实践》这个教程，感觉这个非常适合我这样的新手学习，然后才买的书，在这之前自己装的ros。

问题出在没有sudo apt update 导致这个包安装不上。

感谢大佬您的教程

DDDDDDDDkiss

问题描述：

运行gazebo_sim.launch.py后提示spawn_entity.py进程在尝试调用spawn服务时失败了，可能原因是无法找到模型配置文件（model.config）

具体细节和上下文：
具体报错如下:
[INFO] [launch]: All log files can be found below /home/dong/.ros/log/2024-09-23-12-30-25-553301-dong-virtual-machine-15121
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [15138]
[INFO] [gzserver-2]: process started with pid [15140]
[INFO] [gzclient-3]: process started with pid [15142]
[INFO] [spawn_entity.py-4]: process started with pid [15144]
[robot_state_publisher-1] [INFO] [1727065827.205263644] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1727065827.205535477] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1727065827.205563055] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1727065827.205573539] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1727065827.205581927] [robot_state_publisher]: got segment camera_optical_link
[robot_state_publisher-1] [INFO] [1727065827.205590164] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1727065827.205597940] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1727065827.205606046] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1727065827.205614362] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1727065827.205622092] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1727065827.205629766] [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] [1727065828.015673602] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1727065828.016492121] [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] [1727065828.023057714] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1727065828.036947100] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1727065828.037622856] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1727065829.050763935] [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: 192.168.137.131
[gzserver-2] [Msg] Loading world file [/home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] Warning [parser_urdf.cc:1134] multiple inconsistent <name> exists due to fixed joint reduction overwriting previous value [Gazebo/Black] with [Gazebo/Red].
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 192.168.137.131
[gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
[spawn_entity.py-4] [INFO] [1727065829.128184094] [spawn_entity]: Spawn status: Entity pushed to spawn queue, but spawn service timed outwaiting for entity to appear in simulation under the name [fishbot]
[spawn_entity.py-4] [ERROR] [1727065829.128925697] [spawn_entity]: Spawn service failed. Exiting.
[ERROR] [spawn_entity.py-4]: process has died [pid 15144, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -topic /robot_description -entity fishbot --ros-args'].
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/dong/.gazebo/models/.git"
[gzserver-2] [INFO] [1727065829.765332832] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info]
[gzserver-2] [INFO] [1727065829.767365729] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info]
[gzserver-2] [INFO] [1727065829.768455704] [depth_camera]: Publishing pointcloud to [/camera_sensor/points]
[gzserver-2] [INFO] [1727065829.884487163] [diff_drive]: Wheel pair 1 separation set to [0.200000m]
[gzserver-2] [INFO] [1727065829.884669346] [diff_drive]: Wheel pair 1 diameter set to [0.064000m]
[gzserver-2] [INFO] [1727065829.888237623] [diff_drive]: Subscribed to [/cmd_vel]
[gzserver-2] [INFO] [1727065829.895102647] [diff_drive]: Advertise odometry on [/odom]
[gzserver-2] [INFO] [1727065829.902048080] [diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gzserver-2] [INFO] [1727065829.902136939] [diff_drive]: Publishing wheel transforms between [base_footprint], [left_wheel_joint] and [right_wheel_joint]
[gzserver-2] [INFO] [1727065829.966219140] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-2] [INFO] [1727065829.977396045] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-2] [INFO] [1727065829.977612410] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-2] [INFO] [1727065829.992655156] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-2] [INFO] [1727065830.000029429] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-2] [INFO] [1727065830.000223156] [gazebo_ros2_control]: Loading parameter files /home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml
[gzserver-2] [ERROR] [1727065830.000728011] [gazebo_ros2_control]: parser error Couldn't parse params file: '--params-file /home/dong/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml'. Error: Error opening YAML file, at ./src/parser.c:270, at ./src/rcl/arguments.c:406
[gzserver-2]
[gzclient-3] context mismatch in svga_surface_destroy
[gzclient-3] context mismatch in svga_surface_destroy
[gzserver-2] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
[gzclient-3] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.

小鱼

@DDDDDDDDkiss 1.格式 2.一个问题一个帖子
https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答

教材6.4.2在Gazebo中加载机器人，构建完成功能包后启动gazebo_sim.launch.py显示找不到gazebo_ros功能包

背景(可选)：想要在复现6.4.2章节，在Gazebo中加载机器人模型

问题描述：

具体细节和上下文：

尝试过的解决方法：

1. 检查ROS版本和Gazebo版本

2. 安装Gazebo和gazebo_ros_pkgs

3. 检查环境变量

4. 检查launch文件

5. 清理和重建工作空间

6. 查看文档和社区支持

解决步骤

1. model.config 或 manifest.xml 文件缺失

2. Qt 平台插件问题

3. 渲染窗口创建失败

总结

1. `model.config` 或 `manifest.xml` 文件缺失