[Gazebo仿真] 启动时出现错误 Unable to start server[bind: Address already in use]

小鱼

平台信息

Ubuntu22.04
ROS2 Foxy
FishBot建图仿真

运行指令

ros2 launch fishbot_description gazebo.launch.p

报错如下

[gazebo-1] [Err] [Master.cc:96] EXCEPTION: Unable to start server[bind: Address already in use]. There is probably another Gazebo process running.
[gazebo-1] 
[gazebo-1] [Err] [Master.cc:96] EXCEPTION: Unable to start server[bind: Address already in use]. There is probably another Gazebo process running.
[gazebo-1] 
[ERROR] [gazebo-1]: process has died [pid 493, exit code 255, cmd 'gazebo --verbose -s libgazebo_ros_factory.so /root/d2lros2/d2lros2/chapt10/chapt10_ws/install/fishbot_description/share/fishbot_description/world/fishbot.world'].
[gazebo-1]

小鱼

@小鱼原因是启动多个Gazebo或者原有Gazebo没有退出导致

Gazebo分为server和client两端，根据错误提示是多个服务端启动了，可以用下面的命令杀死对应进程。

killall gzserver 
killall gzclient

没有killall可以安装

sudo apt install psmisc -y