使用gazebo_sim.launch.py，gazebo无法启动urdf文件；gazebo
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zh@zh:~/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/launch$ ros2 launch gazebo_sim.launch.py
[INFO] [launch]: All log files can be found below /home/zh/.ros/log/2025-04-08-14-14-08-743573-zh-18789
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [18809]
[INFO] [gzserver-2]: process started with pid [18811]
[INFO] [gzclient-3]: process started with pid [18813]
[INFO] [spawn_entity.py-4]: process started with pid [18824]
[robot_state_publisher-1] [WARN] [1744092850.983627396] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-1] [INFO] [1744092851.005250818] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1744092851.005356558] [robot_state_publisher]: got segment link1
[robot_state_publisher-1] [INFO] [1744092851.005364945] [robot_state_publisher]: got segment link2
[robot_state_publisher-1] [INFO] [1744092851.005370559] [robot_state_publisher]: got segment link3
[robot_state_publisher-1] [INFO] [1744092851.005375577] [robot_state_publisher]: got segment link4
[robot_state_publisher-1] [INFO] [1744092851.005380653] [robot_state_publisher]: got segment link5
[robot_state_publisher-1] [INFO] [1744092851.005401899] [robot_state_publisher]: got segment link6
[spawn_entity.py-4] [INFO] [1744092851.461900069] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1744092851.462376818] [spawn_entity]: Loading entity published on topic /robot_description
[spawn_entity.py-4] [INFO] [1744092851.597600032] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1744092851.610611232] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1744092851.612326637] [spawn_entity]: Waiting for service /spawn_entity
[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] [Wrn] [gazebo_ros_init.cpp:178]
[gzserver-2] # # ####### ####### ### ##### #######
[gzserver-2] ## # # # # # # # #
[gzserver-2] # # # # # # # # #
[gzserver-2] # # # # # # # # #####
[gzserver-2] # # # # # # # # #
[gzserver-2] # ## # # # # # # #
[gzserver-2] # # ####### # ### ##### #######
[gzserver-2]
[gzserver-2] This version of Gazebo, now called Gazebo classic, reaches end-of-life
[gzserver-2] in January 2025. Users are highly encouraged to migrate to the new Gazebo
[gzserver-2] using our migration guides (https://gazebosim.org/docs/latest/gazebo_classic_migration?utm_source=gazebo_ros_pkgs&utm_medium=cli)
[gzserver-2]
[gzserver-2]
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 192.168.45.72
[gzclient-3] [Wrn] [GuiIface.cc:120] QSocketNotifier: Can only be used with threads started with QThread
[spawn_entity.py-4] [INFO] [1744092854.880858607] [spawn_entity]: Calling 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: 192.168.45.72
[gzserver-2] [Msg] Loading world file [/home/zh/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] [Wrn] [ModelDatabase.cc:340] Getting models from[http://models.gazebosim.org/]. This may take a few seconds.
[spawn_entity.py-4] [INFO] [1744092855.188383000] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [demo_robot]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 18824]
[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 18813, exit code -6, cmd 'gzclient --gui-client-plugin=libgazebo_ros_eol_gui.so --verbose'].
[gzclient-3]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1744092927.750144168] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 18809]
[ERROR] [gzserver-2]: process[gzserver-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [gzserver-2]: sending signal 'SIGTERM' to process[gzserver-2]
[gzserver-2] [INFO] [1744092932.761096812] [rclcpp]: signal_handler(signum=15)
[ERROR] [gzserver-2]: process[gzserver-2] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [gzserver-2]: sending signal 'SIGKILL' to process[gzserver-2]
[ERROR] [gzserver-2]: process has died [pid 18811, exit code -9, cmd 'gzserver /home/zh/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[gzserver-2]
zh@zh:~/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/launch$