在chapter6的gazebo_sim.launch.py文件运行时报错，好像是gzclient打不开，gazebo也崩溃了

1164894579

指令$ ros2 launch robot_description gazebo_sim.launch.py
结果：
[INFO] [launch]: All log files can be found below /home/wang/.ros/log/2025-02-05-21-11-13-932937-wang-virtual-machine-3572
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [3574]
[INFO] [gzserver-2]: process started with pid [3576]
[INFO] [gzclient-3]: process started with pid [3578]
[INFO] [spawn_entity.py-4]: process started with pid [3580]
[robot_state_publisher-1] [INFO] [1738761074.465208698] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1738761074.465372962] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1738761074.465381068] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1738761074.465386809] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1738761074.465408091] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1738761074.465413021] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1738761074.465416979] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1738761074.465420826] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1738761074.465424393] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1738761074.465428121] [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] [1738761074.757372182] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1738761074.757749235] [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] [1738761074.759794482] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1738761074.773813422] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1738761074.774110207] [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: 192.168.248.128
[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?
[spawn_entity.py-4] [INFO] [1738761075.530248963] [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: 192.168.248.128
[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] QSocketNotifier: Can only be used with threads started with QThread
[spawn_entity.py-4] [INFO] [1738761075.772798805] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [Wrobot]
[gzserver-2] [INFO] [1738761075.787871804] [diff_drive]: Wheel pair 1 separation set to [0.200000m]
[gzserver-2] [INFO] [1738761075.788372420] [diff_drive]: Wheel pair 1 diameter set to [0.064000m]
[gzserver-2] [INFO] [1738761075.789731446] [diff_drive]: Subscribed to [/cmd_vel]
[gzserver-2] [INFO] [1738761075.792849377] [diff_drive]: Advertise odometry on [/odom]
[gzserver-2] [INFO] [1738761075.795760529] [diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gzserver-2] [INFO] [1738761075.795813804] [diff_drive]: Publishing wheel transforms between [base_footprint], [left_wheel_joint] and [right_wheel_joint]
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/.gazebo/models/wp_map_tools"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/.gazebo/models/wpr_simulation2"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/chapter6/chapter6_ws/src/robot_description/config"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/chapter6/chapter6_ws/src/robot_description/include"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/chapter6/chapter6_ws/src/robot_description/launch"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/chapter6/chapter6_ws/src/robot_description/src"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/chapter6/chapter6_ws/src/robot_description/urdf"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/chapter6/chapter6_ws/src/robot_description/world"
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 3580]
[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] [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 3578, exit code -6, cmd 'gzclient --verbose'].
[gzclient-3]

机器人小伊

从您提供的日志信息来看，有几个关键问题导致了 gzclient 无法正常启动并崩溃：

Shader 库找不到：

[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] [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?

这通常意味着 GAZEBO_RESOURCE_PATH 环境变量没有正确设置，或者相关的资源文件没有正确安装。您需要确保已经正确安装了 Gazebo，并且环境变量设置正确。通常，您需要在终端中运行以下命令来设置环境变量：

source /opt/ros/humble/setup.bash
source /opt/ros/humble/local/share/gazebo/setup.bash

这些路径可能因您的安装方式和位置而异，请根据实际情况调整。

模型配置文件缺失：

[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/.gazebo/models/wp_map_tools"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/.gazebo/models/wpr_simulation2"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wang/chapter6/chapter6_ws/src/robot_description/config"
...

这些错误表明 Gazebo 试图加载一些模型，但找不到它们的配置文件。这可能是因为这些模型没有被正确安装或者路径指向了错误的位置。检查您的 URDF 或世界文件中引用的模型路径是否正确，并确保这些模型存在于指定的路径中。

渲染窗口创建失败：

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

这通常与图形驱动或 OpenGL 设置有关。确保您的系统支持 OpenGL，并且图形驱动是最新的。此外，检查是否有任何图形相关的错误或警告信息在终端输出。

解决步骤：

重新检查并设置环境变量：
确保所有相关的 ROS 和 Gazebo 环境变量都已正确设置。
验证模型路径：
检查您的 URDF 和世界文件，确保所有引用的模型路径都是正确的。如果模型是自定义的，确保它们已经被正确安装和配置。
更新图形驱动：
确保您的图形驱动是最新的，并且与您的操作系统和硬件兼容。
重新运行 Gazebo：
在解决了上述问题后，尝试重新运行您的 Gazebo 启动文件。

如果问题仍然存在，您可能需要更详细地检查 Gazebo 的配置文件或寻求社区的帮助。

以上为生成回答，仅供参考～

1164894579

@小伊
输入
gazebo
输出
context mismatch in svga_surface_destroy
context mismatch in svga_surface_destroy

这又是什么问题

机器人小伊

您提到的输入“gazebo”和输出“context mismatch in svga_surface_destroy”之间似乎没有直接的关联。这里分别解释一下这两个概念，并尝试分析可能的背景或原因。

Gazebo

Gazebo 是一个开源的机器人模拟器，广泛用于机器人系统、无人驾驶汽车、无人机等领域的开发和测试。它提供了一个高保真度的物理仿真环境，允许开发者在虚拟环境中测试他们的机器人算法和控制系统。

svga_surface_destroy 和 Context Mismatch

svga_surface_destroy 可能是指在使用 SVGA（一种图形加速技术或库）时，用于销毁或释放图形表面的函数。这种技术或库通常用于图形渲染，尤其是在游戏或复杂图形应用中。
Context Mismatch 错误通常发生在图形上下文（OpenGL、Vulkan等图形API中的渲染上下文）被错误管理时。例如，尝试在一个渲染上下文中创建的对象上执行另一个上下文的操作，或者在销毁对象后仍然尝试使用它。

可能的问题背景

如果您在使用 Gazebo 的过程中遇到了 “context mismatch in svga_surface_destroy” 的错误，这可能意味着 Gazebo 在尝试管理或渲染图形时遇到了问题。可能的原因包括：

图形驱动问题：您的图形驱动可能不兼容或过时，导致 Gazebo 无法正确管理图形资源。
多GPU环境：如果您的系统有多个GPU，并且 Gazebo 或其依赖的图形库没有正确处理这种情况，可能会出现上下文不匹配的错误。
软件或库版本冲突：安装的某个库或软件可能与 Gazebo 不兼容，特别是在图形渲染方面。

解决步骤

更新图形驱动：确保您的图形驱动是最新的，并且与您的硬件和操作系统兼容。
检查 Gazebo 和依赖库的版本：确保您安装的 Gazebo 和所有相关依赖库都是最新版本，或者至少是彼此兼容的版本。
单GPU运行：如果可能，尝试在只有一个GPU的环境中运行 Gazebo，看看问题是否仍然存在。
查看日志和错误报告：更详细地查看 Gazebo 的日志文件和系统错误报告，以获取更多关于何时何地发生错误的线索。
寻求社区帮助：如果问题仍然存在，考虑在 Gazebo 的用户论坛或社区中寻求帮助，那里可能有其他开发者遇到过类似的问题。

希望这些信息对您有所帮助！如果还有其他具体的问题或错误日志，请提供更多信息以便进一步分析。

以上为生成回答，仅供参考～