Ubuntu22.02 启用gazebo失败 Was Gazebo started with GazeboRosFactory?

hanhan3090

[INFO] [launch]: All log files can be found below /home/user/.ros/log/2024-11-20-23-24-23-788430-user-Dell-G15-5510-38654
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Setting logging gazebo verbosity to error
[INFO] [robot_state_publisher-1]: process started with pid [38668]
[INFO] [gzserver-2]: process started with pid [38670]
[INFO] [gzclient-3]: process started with pid [38672]
[INFO] [spawn_entity.py-4]: process started with pid [38674]
[robot_state_publisher-1] [INFO] [1732116264.465605083] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1732116264.465738227] [robot_state_publisher]: got segment left_foot
[robot_state_publisher-1] [INFO] [1732116264.465745475] [robot_state_publisher]: got segment left_hip_base
[robot_state_publisher-1] [INFO] [1732116264.465765370] [robot_state_publisher]: got segment left_shank
[robot_state_publisher-1] [INFO] [1732116264.465768695] [robot_state_publisher]: got segment left_thigh
[robot_state_publisher-1] [INFO] [1732116264.465771839] [robot_state_publisher]: got segment right_foot
[robot_state_publisher-1] [INFO] [1732116264.465775017] [robot_state_publisher]: got segment right_hip_base
[robot_state_publisher-1] [INFO] [1732116264.465778220] [robot_state_publisher]: got segment right_shank
[robot_state_publisher-1] [INFO] [1732116264.465781369] [robot_state_publisher]: got segment right_thigh
[robot_state_publisher-1] [INFO] [1732116264.465784476] [robot_state_publisher]: got segment world
[spawn_entity.py-4] [INFO] [1732116264.774096644] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1732116264.774348788] [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] [1732116264.775528902] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1732116264.788524210] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1732116264.789360778] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [ERROR] [1732116294.843599865] [spawn_entity]: Service %s/spawn_entity unavailable. Was Gazebo started with GazeboRosFactory?
[spawn_entity.py-4] [ERROR] [1732116294.844905741] [spawn_entity]: Spawn service failed. Exiting.
[ERROR] [spawn_entity.py-4]: process has died [pid 38674, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -topic robot_description -entity my_bot --ros-args'].

从git上clone的[外骨骼](https://github.com/MaxLewter16/LLEAP)源代码，运行rviz没问题，运行gazebo出现如上报错，gazebo版本正确，求助:face_with_thermometer:

机器人小伊

从你提供的日志来看，问题出在尝试使用 spawn_entity.py 脚本来在 Gazebo 中生成机器人实体时，服务 /spawn_entity 不可用。这通常意味着 Gazebo 没有正确配置为使用 ROS 插件，特别是 GazeboRosFactory。这里有几个步骤可以帮助你解决这个问题：

确认 Gazebo 是否正确安装并配置为使用 ROS：
- 确保你已经安装了 Gazebo 的 ROS 包，比如 gazebo_ros_pkgs。
- 如果你使用的是 ROS 2 Humble，确保你安装的是与 Humble 兼容的 Gazebo 版本。
检查 Gazebo 启动脚本：
- 当你启动 Gazebo 时，确保你使用了 ROS 2 的启动文件或命令行参数，这样 Gazebo 才能加载 ROS 插件。
- 例如，你应该使用类似 ros2 launch gazebo_ros gazebo_ros_empty_world.launch.py 的命令来启动 Gazebo。
检查环境变量：
- 确保你的 ROS_DOMAIN_ID 和其他相关的 ROS 环境变量正确设置，并且在启动 Gazebo 之前已经 source 了你的 ROS 2 安装目录中的 setup.bash（或相应的 shell 脚本）。
检查 Gazebo 配置文件：
- 查看你的 Gazebo 配置文件（如 gazebo_ros_empty_world.launch.py），确保它包含了加载 ROS 插件所需的参数。
- 特别是检查 <plugin name="gazebo_ros_init" filename="libgazebo_ros_init.so"> 这样的插件是否已经被正确加载。
重新启动 Gazebo：
- 在做了上述更改后，完全关闭 Gazebo 和所有相关的 ROS 节点，然后重新按照上述步骤启动。
查看 Gazebo 的输出：
- 在启动 Gazebo 时，观察其控制台输出，看是否有任何错误或警告信息，这些信息可能会提供更多关于问题的线索。
检查 ROS 2 日志：
- 使用 ros2 node list 和 ros2 topic list 查看当前活动的节点和主题，确保 /spawn_entity 服务应该存在的节点是活动的。
- 使用 ros2 service list 查看可用的服务，确认 /spawn_entity 服务是否存在。

如果上述步骤都不能解决问题，可能需要更深入地检查你的 ROS 2 和 Gazebo 安装，或者考虑重新安装这些软件包。希望这些信息能帮助你解决问题！

以上为生成回答，仅供参考～