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    6.4.2在gazebo中加载机器人模型

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    ROS2机器人开发：从入门到实践
    加载gazebo显示异常 launch
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    • 2
      2352947187
      最后由 编辑

      gazebo_sim.launch.py文件内容：
      import launch
      import launch_ros
      from ament_index_python.packages import get_package_share_directory
      from launch.launch_description_sources import PythonLaunchDescriptionSource

      def generate_launch_description():
      # 获取默认路径
      # 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'
      # 为 Launch 声明参数
      action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
      name='model', default_value=str(default_model_path),
      description='URDF 的绝对路径')
      # 获取文件内容生成新的参数
      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}]
)

# 通过 IncludeLaunchDescription 包含另外一个 launch 文件
launch_gazebo = launch.actions.IncludeLaunchDescription(
    PythonLaunchDescriptionSource([get_package_share_directory(
        'gazebo_ros'), '/launch', '/gazebo.launch.py']),
  	# 传递参数
    launch_arguments=[('world', default_world_path),('verbose','true')]
)
return launch.LaunchDescription([
    action_declare_arg_mode_path,
    robot_state_publisher_node,
    launch_gazebo,
])

      终端输入：ros2 launch fishbot_description gazebo_sim.launch.py
      显示：[INFO] [launch]: All log files can be found below /home/wang/.ros/log/2024-10-23-17-35-42-233913-wang-virtual-machine-9402
      [INFO] [launch]: Default logging verbosity is set to INFO
      [INFO] [robot_state_publisher-1]: process started with pid [9438]
      [INFO] [gzserver-2]: process started with pid [9440]
      [INFO] [gzclient-3]: process started with pid [9443]
      [robot_state_publisher-1] [INFO] [1729676145.696358758] [robot_state_publisher]: got segment back_caster_link
      [robot_state_publisher-1] [INFO] [1729676145.696697463] [robot_state_publisher]: got segment base_footprint
      [robot_state_publisher-1] [INFO] [1729676145.696729168] [robot_state_publisher]: got segment base_link
      [robot_state_publisher-1] [INFO] [1729676145.696745268] [robot_state_publisher]: got segment camera_link
      [robot_state_publisher-1] [INFO] [1729676145.696760659] [robot_state_publisher]: got segment camera_optical_link
      [robot_state_publisher-1] [INFO] [1729676145.696775769] [robot_state_publisher]: got segment front_caster_link
      [robot_state_publisher-1] [INFO] [1729676145.696790216] [robot_state_publisher]: got segment imu_link
      [robot_state_publisher-1] [INFO] [1729676145.696804432] [robot_state_publisher]: got segment laser_cylinder_link
      [robot_state_publisher-1] [INFO] [1729676145.696819304] [robot_state_publisher]: got segment laser_link
      [robot_state_publisher-1] [INFO] [1729676145.696833385] [robot_state_publisher]: got segment left_wheel_link
      [robot_state_publisher-1] [INFO] [1729676145.696848606] [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]
      [gzserver-2] [Msg] Waiting for master.
      [gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
      [gzserver-2] [Msg] Publicized address: 192.168.28.131
      [gzserver-2] [Err] [RTShaderSystem.cc:480] Unable to find shader lib. Shader generating will fail. Your GAZEBO_RESOURCE_PATH is probably improperly set. Have you sourced <prefix>/share/gazebo/setup.bash?
      [gzclient-3] [Msg] Waiting for master.
      [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
      [gzclient-3] [Msg] Publicized address: 192.168.28.131
      [gzclient-3] [Err] [RTShaderSystem.cc:480] Unable to find shader lib. Shader generating will fail. Your GAZEBO_RESOURCE_PATH is probably improperly set. Have you sourced <prefix>/share/gazebo/setup.bash?
      [gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
      [gzclient-3] [Err] [RenderEngine.cc:197] Failed to initialize scene
      [gzclient-3] [Err] [GLWidget.cc:177] GLWidget could not create a scene. This will likely result in a blank screen.
      [gzclient-3] gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = gazebo::rendering::Camera; typename boost::detail::sp_member_access<T>::type = gazebo::rendering::Camera*]: 断言 "px != 0" 失败。
      [ERROR] [gzclient-3]: process has died [pid 9443, exit code -6, cmd 'gzclient --verbose'].
      [gzclient-3]
      ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
      [robot_state_publisher-1] [INFO] [1729676286.561609333] [rclcpp]: signal_handler(signum=2)
      [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 9438]
      [gzserver-2] [Msg] Loading world file [/home/wang/desktop/ros2bookcode/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
      终端输入： ros2 launch fishbot_description gazebo_sim.launch.py --debug
      显示：
      [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
      [INFO] [launch]: All log files can be found below /home/wang/.ros/log/2024-10-23-17-38-13-922416-wang-virtual-machine-9696
      [INFO] [launch]: Default logging verbosity is set to DEBUG
      [DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x757dcefa0d00>'
      [DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x757dcefa0d00>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x757dcf144100>'
      [DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
      perform_substitutions(context, self.__location)
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
      return ''.join([context.perform_substitution(sub) for sub in subs])
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
      return ''.join([context.perform_substitution(sub) for sub in subs])
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
      return substitution.perform(self)
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/this_launch_file_dir.py", line 56, in perform
      raise SubstitutionFailure(
      launch.substitutions.substitution_failure.SubstitutionFailure: ThisLaunchFileDir used outside of a launch file (in a script)

      [DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: ThisLaunchFileDir used outside of a launch file (in a script)
      [DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
      perform_substitutions(context, self.__location)
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
      return ''.join([context.perform_substitution(sub) for sub in subs])
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
      return ''.join([context.perform_substitution(sub) for sub in subs])
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
      return substitution.perform(self)
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/this_launch_file_dir.py", line 56, in perform
      raise SubstitutionFailure(
      launch.substitutions.substitution_failure.SubstitutionFailure: ThisLaunchFileDir used outside of a launch file (in a script)

      [DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: ThisLaunchFileDir used outside of a launch file (in a script)
      [DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
      perform_substitutions(context, self.__location)
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
      return ''.join([context.perform_substitution(sub) for sub in subs])
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
      return ''.join([context.perform_substitution(sub) for sub in subs])
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
      return substitution.perform(self)
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/this_launch_file_dir.py", line 56, in perform
      raise SubstitutionFailure(
      launch.substitutions.substitution_failure.SubstitutionFailure: ThisLaunchFileDir used outside of a launch file (in a script)

      [DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: ThisLaunchFileDir used outside of a launch file (in a script)
      [DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
      perform_substitutions(context, self.__location)
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
      return ''.join([context.perform_substitution(sub) for sub in subs])
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
      return ''.join([context.perform_substitution(sub) for sub in subs])
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
      return substitution.perform(self)
      File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/this_launch_file_dir.py", line 56, in perform
      raise SubstitutionFailure(
      launch.substitutions.substitution_failure.SubstitutionFailure: ThisLaunchFileDir used outside of a launch file (in a script)

      [DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: ThisLaunchFileDir used outside of a launch file (in a script)
      Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> result=None created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 2.764 seconds
      [INFO] [robot_state_publisher-1]: process started with pid [9715]
      [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
      [INFO] [gzserver-2]: process started with pid [9717]
      [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
      [INFO] [gzclient-3]: process started with pid [9719]
      [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x757dcd9da920>'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x757dcd4e1c90>'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x757dcd4e3160>'
      [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcd9da920>'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcd9da920>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x757dcd9d9900>'
      [robot_state_publisher-1] [INFO] [1729676296.921460176] [robot_state_publisher]: got segment back_caster_link
      [robot_state_publisher-1] [INFO] [1729676296.921841094] [robot_state_publisher]: got segment base_footprint
      [robot_state_publisher-1] [INFO] [1729676296.921878362] [robot_state_publisher]: got segment base_link
      [robot_state_publisher-1] [INFO] [1729676296.921897078] [robot_state_publisher]: got segment camera_link
      [robot_state_publisher-1] [INFO] [1729676296.921913011] [robot_state_publisher]: got segment camera_optical_link
      [robot_state_publisher-1] [INFO] [1729676296.921929261] [robot_state_publisher]: got segment front_caster_link
      [robot_state_publisher-1] [INFO] [1729676296.921944901] [robot_state_publisher]: got segment imu_link
      [robot_state_publisher-1] [INFO] [1729676296.921959646] [robot_state_publisher]: got segment laser_cylinder_link
      [robot_state_publisher-1] [INFO] [1729676296.921974807] [robot_state_publisher]: got segment laser_link
      [robot_state_publisher-1] [INFO] [1729676296.921990079] [robot_state_publisher]: got segment left_wheel_link
      [robot_state_publisher-1] [INFO] [1729676296.922004943] [robot_state_publisher]: got segment right_wheel_link
      [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcd9da920>'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcd9da920>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x757dcd4e2a40>'
      [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]
      [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcd9da920>'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcd9da920>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x757dcd4fb7f0>'
      [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]
      [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
      [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x757dcd9da920>'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x757dcd9da920>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x757dcd4fb7f0>'
      [gzserver-2] [Msg] Waiting for master.
      [gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
      [gzserver-2] [Msg] Publicized address: 192.168.28.131
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcd4e18a0>'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcd4e18a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x757dcd4fb7f0>'
      [gzserver-2] [Err] [RTShaderSystem.cc:480] Unable to find shader lib. Shader generating will fail. Your GAZEBO_RESOURCE_PATH is probably improperly set. Have you sourced <prefix>/share/gazebo/setup.bash?
      [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
      [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x757dcdabfa30>'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x757dcdabfa30>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x757dcd4e2a40>'
      [gzclient-3] [Msg] Waiting for master.
      [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
      [gzclient-3] [Msg] Publicized address: 192.168.28.131
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcd4e18a0>'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcd4e18a0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x757dcd4e2a40>'
      [gzclient-3] [Err] [RTShaderSystem.cc:480] Unable to find shader lib. Shader generating will fail. Your GAZEBO_RESOURCE_PATH is probably improperly set. Have you sourced <prefix>/share/gazebo/setup.bash?
      [gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
      [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcd9da920>'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcd9da920>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x757dcd4e2a40>'
      [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcd9da920>'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcd9da920>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x757dcd4e2a40>'
      [gzclient-3] [Err] [RenderEngine.cc:197] Failed to initialize scene
      [gzclient-3] [Err] [GLWidget.cc:177] GLWidget could not create a scene. This will likely result in a blank screen.
      [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcdabf6d0>'
      [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x757dcdabf6d0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x757dcd4e2a40>'

      小鱼小 唔 2 条回复 最后回复 回复 引用 0
      • 小鱼小
        小鱼 技术大佬 @2352947187
        最后由 编辑

        @2352947187 提供下上下文操作

        小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
        新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

        唔 1 条回复 最后回复 回复 引用 0
        • 唔
          唔希迪希 @2352947187
          最后由 编辑

          @2352947187 我也遇到了同样的问题，请问你解决了吗

          唔 1 条回复 最后回复 回复 引用 0
          • 唔
            唔希迪希 @小鱼
            最后由 编辑

            @小鱼 我也在“6.4.2在gazebo中加载机器人模型”遇到了和贴主一样的问题
            gazebo_sim.launch.py代码如下：

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

def generate_launch_description():
    #获取功能包的share路径
    package_path = get_package_share_directory('fishbot_description')

    #获取默认的xacro路径
    default_xacro_path = os.path.join(package_path, 'urdf', 'fishbot/fishbot.urdf.xacro')

    #获取rviz配置文件路径（用于打开rviz软件）
    #default_rviz_config_path = os.path.join(package_path, 'config', 'display_robot_model.rviz')
    
    #获取gazebo世界模型文件路径（用于打开gazebo软件）
    default_gazebo_world_path = os.path.join(package_path, 'world', 'custom_room.world')

    #声明xacro目录参数，方便修改
    action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
        name = 'model', default_value=str(default_xacro_path), description='加载的模型文件路径'
    )
    #通过文件路径，获取内容，并转换成参数值对象，以供传入 robot_state_publisher,model是路径参数，相当于在终端输入了xacro + 文件路径
    substitutions_command_result = launch.substitutions.Command(['xacro ', launch.substitutions.LaunchConfiguration('model')])

    #转换成launch参数值对象
    robot_descriptioin_value = launch_ros.parameter_descriptions.ParameterValue(substitutions_command_result, value_type=str)

    action_robot_state_publisher = launch_ros.actions.Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        parameters=[{'robot_description':robot_descriptioin_value}]
    )

    action_launch_gazebo = launch.actions.IncludeLaunchDescription(
        launch.launch_description_sources.PythonLaunchDescriptionSource([get_package_share_directory('gazebo_ros'), '/launch', '/gazebo.launch.py']),
        launch_arguments=[('world', default_gazebo_world_path),('verbose','true')]
    )

    # action_rviz_node = launch_ros.actions.Node(
    #     package='rviz2',
    #     executable='rviz2',
    #     arguments=['-d' ,default_rviz_config_path]
    # )

    return launch.LaunchDescription([
        action_declare_arg_mode_path,
        action_robot_state_publisher,
        action_launch_gazebo,
        # action_rviz_node,
    ])

            终端操作如下：

            daisy@daisy-VirtualBox:~/chapt6$ cd chapt6_ws/
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ source install/setup.bash 
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ source install/setup.bash 
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ colcon build
Starting >>> fishbot_description
Finished <<< fishbot_description [1.02s]                  

Summary: 1 package finished [1.74s]
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py 
[INFO] [launch]: All log files can be found below /home/daisy/.ros/log/2024-11-13-16-13-30-042688-daisy-VirtualBox-3880
[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]:
 - AttributeError: module 'launch' has no attribute 'actioons'
 - InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ colcon build
Starting >>> fishbot_description
Finished <<< fishbot_description [0.30s]                  

Summary: 1 package finished [0.62s]
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py 
[INFO] [launch]: All log files can be found below /home/daisy/.ros/log/2024-11-13-16-13-57-292398-daisy-VirtualBox-3993
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [4010]
[INFO] [gzserver-2]: process started with pid [4012]
[INFO] [gzclient-3]: process started with pid [4014]
[robot_state_publisher-1] [INFO] [1731485638.900938666] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1731485638.901109575] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1731485638.901121696] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1731485638.901125974] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1731485638.901129892] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1731485638.901133654] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1731485638.901137125] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1731485638.901140746] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1731485638.901144368] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1731485638.901147913] [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] 
[gzserver-2] [Msg] Waiting for master.
[gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-2] [Msg] Publicized address: 172.20.10.12
[gzserver-2] [Err] [RTShaderSystem.cc:480] Unable to find shader lib. Shader generating will fail. Your GAZEBO_RESOURCE_PATH is probably improperly set. Have you sourced <prefix>/share/gazebo/setup.bash?
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 172.20.10.12
[gzclient-3] [Err] [RTShaderSystem.cc:480] Unable to find shader lib. Shader generating will fail. Your GAZEBO_RESOURCE_PATH is probably improperly set. Have you sourced <prefix>/share/gazebo/setup.bash?
[gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
[gzclient-3] [Err] [RenderEngine.cc:197] Failed to initialize scene
[gzclient-3] [Err] [GLWidget.cc:177] GLWidget could not create a scene. This will likely result in a blank screen.
[gzserver-2] [Msg] Loading world file [/home/daisy/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.
[gzclient-3] gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = gazebo::rendering::Camera; typename boost::detail::sp_member_access<T>::type = gazebo::rendering::Camera*]: 断言 "px != 0" 失败。
[ERROR] [gzclient-3]: process has died [pid 4014, exit code -6, cmd 'gzclient --verbose'].
[gzclient-3] 
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1731485758.346198941] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 4010]
[INFO] [gzserver-2]: process has finished cleanly [pid 4012]
[gzserver-2] 
[gzserver-2] 
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ source install/setup.bash 
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py 
[INFO] [launch]: All log files can be found below /home/daisy/.ros/log/2024-11-13-16-16-07-344853-daisy-VirtualBox-4390
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [4392]
[INFO] [gzserver-2]: process started with pid [4394]
[INFO] [gzclient-3]: process started with pid [4396]
[robot_state_publisher-1] [INFO] [1731485768.000059857] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1731485768.000151923] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1731485768.000158276] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1731485768.000162215] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1731485768.000165779] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1731485768.000169217] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1731485768.000172550] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1731485768.000175961] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1731485768.000179341] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1731485768.000182855] [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] 
[gzserver-2] [Msg] Waiting for master.
[gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-2] [Msg] Publicized address: 172.20.10.12
[gzserver-2] [Err] [RTShaderSystem.cc:480] Unable to find shader lib. Shader generating will fail. Your GAZEBO_RESOURCE_PATH is probably improperly set. Have you sourced <prefix>/share/gazebo/setup.bash?
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 172.20.10.12
[gzclient-3] [Err] [RTShaderSystem.cc:480] Unable to find shader lib. Shader generating will fail. Your GAZEBO_RESOURCE_PATH is probably improperly set. Have you sourced <prefix>/share/gazebo/setup.bash?
[gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
[gzclient-3] [Err] [RenderEngine.cc:197] Failed to initialize scene
[gzclient-3] [Err] [GLWidget.cc:177] GLWidget could not create a scene. This will likely result in a blank screen.
[gzserver-2] [Msg] Loading world file [/home/daisy/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.
[gzclient-3] gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = gazebo::rendering::Camera; typename boost::detail::sp_member_access<T>::type = gazebo::rendering::Camera*]: 断言 "px != 0" 失败。
[ERROR] [gzclient-3]: process has died [pid 4396, exit code -6, cmd 'gzclient --verbose'].
[gzclient-3] 
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1731486372.159001383] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 4392]
[INFO] [gzserver-2]: process has finished cleanly [pid 4394]
[gzserver-2] 
[gzserver-2]
            1 条回复 最后回复 回复 引用 0
            • 唔
              唔希迪希 @唔希迪希
              最后由 编辑

              @唔希迪希 我已解决！
              solution：
              查看自己的gazebo是哪个版本的

              daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ ls /usr/share | grep gazebo
gazebo
gazebo-11

              然后修改环境变量

              daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/usr/share/gazebo-11

              查看一下有没有修改成功

              daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ printenv | grep  GAZEBO_RESOURCE_PATH
GAZEBO_RESOURCE_PATH=:/usr/share/gazebo-11

              再运行

              daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py

              成功在gazebo中打开模型并且无报错！

              完整过程：

              daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ ls /usr/share | grep gazebo
gazebo
gazebo-11
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ printenv | grep  GAZEBO_RESOURCE_PATH
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/usr/share/gazebo-11
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ printenv | grep  GAZEBO_RESOURCE_PATH
GAZEBO_RESOURCE_PATH=:/usr/share/gazebo-11
daisy@daisy-VirtualBox:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py 
[INFO] [launch]: All log files can be found below /home/daisy/.ros/log/2024-11-13-17-05-21-173897-daisy-VirtualBox-5684
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [5686]
[INFO] [gzserver-2]: process started with pid [5688]
[INFO] [gzclient-3]: process started with pid [5690]
[robot_state_publisher-1] [INFO] [1731488721.944877604] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1731488721.947460442] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1731488721.947480484] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1731488721.947484598] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1731488721.947488090] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1731488721.947491439] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1731488721.947494741] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1731488721.947498114] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1731488721.947501197] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1731488721.947504493] [robot_state_publisher]: got segment right_wheel_link
[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] 
[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] [Msg] Waiting for master.
[gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-2] [Msg] Publicized address: 172.20.10.12
[gzserver-2] [Msg] Loading world file [/home/daisy/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 172.20.10.12
[gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzclient-3] context mismatch in svga_surface_destroy
[gzclient-3] context mismatch in svga_surface_destroy
[gzclient-3] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
              1 条回复 最后回复 回复 引用 0
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