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    6.4.5添加激光雷达失败

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    ROS2机器人开发：从入门到实践
    gazebo 仿真 激光雷达
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    • 2
      2118561423
      最后由 编辑

      鱼哥帮我看看这是什么原因呀，在gazebo添加激光雷达插件后运行gazebo会概率性报错崩溃，激光雷达不生效，以下是完整日志：

      chen@chen-virtual-machine:~/Program/test_car/test_car_ws$ ros2 launch car_description gazebo_sim.launch.py 
[INFO] [launch]: All log files can be found below /home/chen/.ros/log/2025-03-03-16-07-16-874166-chen-virtual-machine-7374
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [7376]
[INFO] [gzserver-2]: process started with pid [7378]
[INFO] [gzclient-3]: process started with pid [7380]
[INFO] [spawn_entity.py-4]: process started with pid [7382]
[INFO] [joint_state_publisher-5]: process started with pid [7384]
[robot_state_publisher-1] [INFO] [1740989237.394305769] [robot_state_publisher]: got segment base_footprint_link
[robot_state_publisher-1] [INFO] [1740989237.394658450] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1740989237.394672166] [robot_state_publisher]: got segment base_up_link
[robot_state_publisher-1] [INFO] [1740989237.394681183] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1740989237.394688216] [robot_state_publisher]: got segment camera_optical_link
[robot_state_publisher-1] [INFO] [1740989237.394694828] [robot_state_publisher]: got segment holderfirst_link
[robot_state_publisher-1] [INFO] [1740989237.394701200] [robot_state_publisher]: got segment holderfourth_link
[robot_state_publisher-1] [INFO] [1740989237.394708244] [robot_state_publisher]: got segment holdersecond_link
[robot_state_publisher-1] [INFO] [1740989237.394715647] [robot_state_publisher]: got segment holderthird_link
[robot_state_publisher-1] [INFO] [1740989237.394722711] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1740989237.394729944] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1740989237.394736637] [robot_state_publisher]: got segment left_passivewheel_link
[robot_state_publisher-1] [INFO] [1740989237.394743760] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1740989237.394751414] [robot_state_publisher]: got segment right_passivewheel_link
[robot_state_publisher-1] [INFO] [1740989237.394759199] [robot_state_publisher]: got segment right_wheel_link
[robot_state_publisher-1] [INFO] [1740989237.394766322] [robot_state_publisher]: got segment trackleft_link
[robot_state_publisher-1] [INFO] [1740989237.394773235] [robot_state_publisher]: got segment trackright_link
[joint_state_publisher-5] [INFO] [1740989237.619566241] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[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] [1740989237.756249140] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1740989237.757216273] [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] [1740989237.760391988] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1740989237.776414899] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1740989237.777898892] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1740989238.950572748] [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: 192.168.142.134
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/chen/Program/test_car/test_car_ws/install/car_description/share/ament_index"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/chen/Program/test_car/test_car_ws/install/car_description/share/car_description"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/chen/Program/test_car/test_car_ws/install/car_description/share/colcon-core"
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzserver-2] [INFO] [1740989239.759986464] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info]
[gzserver-2] [INFO] [1740989239.761402219] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info]
[gzserver-2] [INFO] [1740989239.762138249] [depth_camera]: Publishing pointcloud to [/camera_sensor/points]
[spawn_entity.py-4] [INFO] [1740989239.960007971] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [track_car]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 7382]
[ERROR] [gzserver-2]: process has died [pid 7378, exit code -11, cmd 'gzserver /home/chen/Program/test_car/test_car_ws/install/car_description/share/car_description/world/custom_room.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].![c71b22a7-9992-42ee-af85-9d8884b31d04-image.png](/forum/assets/uploads/files/1740989965076-c71b22a7-9992-42ee-af85-9d8884b31d04-image-resized.png)

      506683f6-9402-4db5-b991-ae340aef094f-image.png
      应该和Missing model.config没有关系，如果不添加激光雷达插件gazebo就不会崩溃，但是有时候又有激光雷达插件又能够成功运行，激光插件也生效，不会有这一条报错

      [ERROR] [gzserver-2]: process has died [pid 7378, exit code -11, cmd 'gzserver /home/chen/Program/test_car/test_car_ws/install/car_description/share/car_description/world/custom_room.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].![68844488-1db3-4e60-946e-95ba3d91dcc8-image.png](/forum/assets/uploads/files/1740990171863-68844488-1db3-4e60-946e-95ba3d91dcc8-image-resized.png)

      619b63b3-fcfb-444f-9bf7-ea35f4c0912c-image.png

      以下是添加及激光雷达传感器的详细代码

      <gazebo reference="laser_link"> -->
         <sensor name="laserscan" type="ray"> -->
             <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so"> 
                 <ros>
                     <namespace>laser</namespace>
                     <remapping>~/out:=scan</remapping>
                 </ros>
                 <topic_name>scan</topic_name>
                <output_type>sensor_msgs/LaserScan</output_type>
                <frame_name>laser_link</frame_name>
             </plugin>
             <always_on>true</always_on>
             <visualize>true</visualize>
             <update_rate>30</update_rate>
             <pose>0 0 0 0 0 0</pose>
             <ray>
             
                 <scan>
                     <horizontal>
                         <samples>360</samples>
                         <resolution>1.000000</resolution>
                         <min_angle>0.000000</min_angle>
                         <max_angle>6.280000</max_angle>
                     </horizontal>
                 </scan>
                 
                 <range>
                     <min>0.120000</min>
                     <max>8.0</max>
                     <resolution>0.1000</resolution>
                 </range>

                 <noise>
                     <type>gaussian</type>
                     <mean>0.0</mean>
                     <stddev>0.01</stddev>
                 </noise>
             </ray>
         </sensor>
     </gazebo>
      1 条回复 最后回复 回复 引用 0
      • 小伊小
        机器人小伊
        最后由 编辑

        从你提供的日志和配置信息来看，有几个可能的原因导致添加激光雷达插件后Gazebo崩溃：

        1. 插件版本不兼容：

          • 你使用的Gazebo版本是11.10.2，而ROS 2 Humble通常与Gazebo 11的更新版本或者Gazebo 12更兼容。请确认libgazebo_ros_ray_sensor.so插件是否是为你的Gazebo版本编译的。如果插件是为不同版本的Gazebo编译的，它可能会导致崩溃。

        2. 内存或资源限制：

          • 激光雷达传感器配置为高分辨率（360个样本），这在某些系统上可能会消耗大量资源。尝试减少样本数量或降低更新频率，看看是否能稳定运行。

        3. 错误的XML配置：

          • 你的XML配置看起来是格式正确的，但有时候细微的错误或者缺失的标签也可能导致问题。确保所有的标签都正确闭合，并且没有多余的字符或格式错误。

        4. 其他插件或软件冲突：

          • 检查是否有其他插件或软件包与激光雷达插件冲突。例如，其他传感器插件或物理引擎插件可能与激光雷达插件不兼容。

        5. 日志中的警告和错误：

          • 日志中提到的关于model.config的错误通常与模型文件无关，但它们可能是由于环境设置不当或路径问题导致的。确保所有相关的路径和环境变量都设置正确。
          • Deleting a connection right after creation警告可能指示某个组件在初始化后立即被销毁，这可能是由插件或Gazebo内部的bug引起的。

        6. 调试步骤：

          • 增加日志级别：尝试在启动Gazebo时增加日志级别，以获取更详细的错误信息。可以通过在启动命令中添加--verbose标志来实现。
          • 使用GDB调试：如果可能，使用GDB或其他调试工具来运行gzserver，以便在崩溃时获取堆栈跟踪。这可以帮助确定是哪一行代码导致了崩溃。
          • 简化配置：尝试移除或简化其他非必要的传感器或组件，以确定是否其他组件干扰了激光雷达插件。

        7. 更新或回退软件：

          • 考虑更新Gazebo到一个与ROS 2 Humble更兼容的版本，或者如果当前版本是最新的，尝试回退到之前的稳定版本。

        通过这些步骤，你应该能够更接近确定导致问题的根本原因，并找到解决方案。如果问题依旧存在，可能需要更深入地查看具体的插件代码或寻求来自Gazebo或ROS社区的帮助。

        以上为生成回答，仅供参考～

        我是小伊，已接入ChatGpt，所有回复，仅供参考～

        2 1 条回复 最后回复 回复 引用 0
        • 2
          2118561423 @小伊
          最后由 编辑

          @小伊 gazebo11.10.2库里有libgazebo_ros_ray_sensor.so这个动态链接库，我尝试过把采样频率降低，但是还是经常崩溃

          1 条回复 最后回复 回复 引用 0
          • 小伊小
            机器人小伊
            最后由 编辑

            针对您提到的Gazebo 11.10.2中libgazebo_ros_ray_sensor.so动态链接库导致的崩溃问题，尽管降低采样频率可能有助于减轻系统负载，但显然这并不是一个根本的解决方案。以下是一些建议，希望能帮助您解决这个问题：

            1. 检查依赖关系：

              • 确保所有必要的依赖库都已正确安装，并且与Gazebo 11.10.2版本兼容。
              • 使用包管理器（如apt-get）检查并安装任何缺失的依赖项。

            2. 更新和修补：

              • 检查是否有可用的Gazebo更新或补丁，这些更新可能修复了与libgazebo_ros_ray_sensor.so相关的已知问题。
              • 访问Gazebo的官方GitHub仓库或相关论坛，了解是否有其他用户报告了类似问题以及可能的解决方案。

            3. 资源限制：

              • 监控Gazebo运行时的CPU和内存使用情况，确保系统资源不是导致崩溃的原因。
              • 如果资源使用接近极限，考虑增加硬件资源或优化仿真设置。

            4. 日志和调试：

              • 查看Gazebo的日志文件，了解崩溃前后的系统状态和错误信息。
              • 使用调试工具（如gdb）对Gazebo进行调试，以获取更详细的崩溃信息。

            5. 配置和环境：

              • 检查Gazebo的配置文件，确保所有设置都是正确的，特别是与传感器和仿真环境相关的设置。
              • 确保Gazebo运行在一个稳定且配置正确的ROS环境中。

            6. 社区和论坛：

              • 访问ROS和Gazebo的社区论坛，寻求其他用户的帮助和建议。
              • 分享您的崩溃日志和配置文件，以便其他用户能更好地理解问题并提供帮助。

            7. 考虑替代方案：

              • 如果问题持续存在，考虑使用其他版本的Gazebo或不同的传感器插件。
              • 评估其他仿真平台或工具是否更适合您的需求。

            请注意，由于Gazebo是一个复杂的仿真环境，崩溃问题可能由多种因素引起。因此，解决这类问题可能需要一些时间和耐心。在尝试上述建议时，请确保您有足够的系统备份和恢复计划，以防万一出现不可预见的问题。

            以上为生成回答，仅供参考～

            我是小伊，已接入ChatGpt，所有回复，仅供参考～

            1 条回复 最后回复 回复 引用 0
            • 2
              2118561423
              最后由 编辑

              尝试了几次后，现在直接gazebo直接卡在启动界面了，日志也和之前有一些不一样

              chen@chen-virtual-machine:~/Program/test_car/test_car_ws$ colcon build
Starting >>> car_description
Finished <<< car_description [0.14s]                  

Summary: 1 package finished [0.41s]
chen@chen-virtual-machine:~/Program/test_car/test_car_ws$ sourec install/setup.bash
sourec：未找到命令
chen@chen-virtual-machine:~/Program/test_car/test_car_ws$ source install/setup.bash
chen@chen-virtual-machine:~/Program/test_car/test_car_ws$ ros2 launch car_description gazebo_sim.launch.py 
[INFO] [launch]: All log files can be found below /home/chen/.ros/log/2025-03-03-17-59-07-717052-chen-virtual-machine-3873
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [3875]
[INFO] [gzserver-2]: process started with pid [3877]
[INFO] [gzclient-3]: process started with pid [3879]
[INFO] [spawn_entity.py-4]: process started with pid [3881]
[INFO] [joint_state_publisher-5]: process started with pid [3883]
[robot_state_publisher-1] [INFO] [1740995948.251949005] [robot_state_publisher]: got segment base_footprint_link
[robot_state_publisher-1] [INFO] [1740995948.252182270] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1740995948.252193030] [robot_state_publisher]: got segment base_up_link
[robot_state_publisher-1] [INFO] [1740995948.252199152] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1740995948.252204201] [robot_state_publisher]: got segment camera_optical_link
[robot_state_publisher-1] [INFO] [1740995948.252208950] [robot_state_publisher]: got segment holderfirst_link
[robot_state_publisher-1] [INFO] [1740995948.252213339] [robot_state_publisher]: got segment holderfourth_link
[robot_state_publisher-1] [INFO] [1740995948.252217807] [robot_state_publisher]: got segment holdersecond_link
[robot_state_publisher-1] [INFO] [1740995948.252222276] [robot_state_publisher]: got segment holderthird_link
[robot_state_publisher-1] [INFO] [1740995948.252226634] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1740995948.252231133] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1740995948.252235581] [robot_state_publisher]: got segment left_passivewheel_link
[robot_state_publisher-1] [INFO] [1740995948.252240491] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1740995948.252245310] [robot_state_publisher]: got segment right_passivewheel_link
[robot_state_publisher-1] [INFO] [1740995948.252249748] [robot_state_publisher]: got segment right_wheel_link
[robot_state_publisher-1] [INFO] [1740995948.252254016] [robot_state_publisher]: got segment trackleft_link
[robot_state_publisher-1] [INFO] [1740995948.252258305] [robot_state_publisher]: got segment trackright_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] 
[joint_state_publisher-5] [INFO] [1740995948.506909023] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[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] [1740995948.620220423] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1740995948.622548963] [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] [1740995948.627491577] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1740995948.644838611] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1740995948.645381787] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1740995949.403105183] [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: 192.168.142.134
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/chen/Program/test_car/test_car_ws/install/car_description/share/ament_index"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/chen/Program/test_car/test_car_ws/install/car_description/share/car_description"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/chen/Program/test_car/test_car_ws/install/car_description/share/colcon-core"
[gzserver-2] [INFO] [1740995950.186192323] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info]
[gzserver-2] [INFO] [1740995950.187911694] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info]
[gzserver-2] [INFO] [1740995950.189006163] [depth_camera]: Publishing pointcloud to [/camera_sensor/points]
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[spawn_entity.py-4] [INFO] [1740995950.305917939] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [track_car]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 3881]
[gzclient-3] [Err] [Connection.cc:547] Connection[17] Closed during Read
[gzclient-3] [Err] [TransportIface.cc:385] Unable to read from master
[ERROR] [gzserver-2]: process has died [pid 3877, exit code -11, cmd 'gzserver /home/chen/Program/test_car/test_car_ws/install/car_description/share/car_description/world/custom_room.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[gzclient-3] [Err] [GLWidget.cc:900] Unable to connect to a running Gazebo master.
[gzclient-3] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1740996081.753914506] [rclcpp]: signal_handler(signum=2)
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 3875]
[INFO] [joint_state_publisher-5]: process has finished cleanly [pid 3883]
[INFO] [gzclient-3]: process has finished cleanly [pid 3879]
[gzclient-3] 
[gzclient-3]

              但是一移除激光雷达插件又能正常启动

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