启动gazebo_sim.launch时报错，有一大堆文件需要model.config，但这些文件都和实践不相关
-
ls@ls-OMEN-Gaming-Laptop-16-ae0xxx:~/chapter6/chapter6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py
[INFO] [launch]: All log files can be found below /home/ls/.ros/log/2025-07-14-19-31-02-736177-ls-OMEN-Gaming-Laptop-16-ae0xxx-43738
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [43741]
[INFO] [gzserver-2]: process started with pid [43743]
[INFO] [gzclient-3]: process started with pid [43745]
[INFO] [spawn_entity.py-4]: process started with pid [43747]
[robot_state_publisher-1] [INFO] [1752492663.155872124] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1752492663.155987358] [robot_state_publisher]: got segment back_wheel_link
[robot_state_publisher-1] [INFO] [1752492663.156001201] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1752492663.156010853] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1752492663.156019436] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1752492663.156027798] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1752492663.156036241] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1752492663.156044576] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1752492663.156052841] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1752492663.156060997] [robot_state_publisher]: got segment left_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]
[spawn_entity.py-4] Traceback (most recent call last):
[spawn_entity.py-4] File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 31, in <module>
[spawn_entity.py-4] from lxml import etree as ElementTree
[spawn_entity.py-4] ModuleNotFoundError: No module named 'lxml'
[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]
[ERROR] [spawn_entity.py-4]: process has died [pid 43747, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -topic /robot_description -entity fishbot --ros-args'].
[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: 10.197.145.93
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/Optical_flow"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/Sunflower"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/TensorRT"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/Test"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/YOLO"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/cartographer"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/define"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/final_reference"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/lidarteachws"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/omniverse"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/robotcontrol"
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[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)
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[robot_state_publisher-1] [INFO] [1752492883.290270574] [rclcpp]: signal_handler(signum=2)
[gzserver-2] [Msg] Waiting for master.
[gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-2] [Msg] Publicized address: 10.197.145.93
[gzserver-2] [Msg] Loading world file [/home/ls/chapter6/chapter6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 43741]
[INFO] [gzserver-2]: process has finished cleanly [pid 43743]
[gzserver-2]
[gzserver-2]
[INFO] [gzclient-3]: process has finished cleanly [pid 43745]
[gzclient-3]
[gzclient-3]