进行gazebo仿真使用雷达、imu、相机插件时出现[ERROR] [gzserver-4]:

[tutu]

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="gazebo_sensor_plugin">
<gazebo reference="laser_link">
<sensor name="laserscan" type="ray">
<plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">

                <ros>
                    <namespace>/</namespace>
                    <remapping>~/out:=scan</remapping>
                </ros>
                <output_type>sensor_msgs/LaserScan</output_type>
                <frame_name>laser_link</frame_name>
            </plugin>
            <always_on>true</always_on>
            <visualize>true</visualize>
            <update_rate>5</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>5.0</max>
                    <resolution>0.015000</resolution>
                </range>
                <noise>
                    <type>gaussian</type>
                    <mean>0.0</mean>
                    <stddev>0.01</stddev>
                </noise>
            </ray>
        </sensor>
    </gazebo>

    <!--IMU-->
    <!-- <gazebo reference="imu_link">
	<sensor name="imu_sensor" type="imu">
		<plugin name="imu_plugin" filename="libgazebo_ros_imu_sensor.so">
  			<ros>
    			<namespace>/</namespace>
    			<remapping>~/out:=imu</remapping>
  			</ros>
  			<initial_orientation_as_reference>false</initial_orientation_as_reference>
  		</plugin>
  		<update_rate>100</update_rate>
  		<always_on>true</always_on>
  		<imu>
    		<angular_velocity>
      			<x>
        			<noise type="gaussian">
          				<mean>0.0</mean>
          				<stddev>2e-4</stddev>
          				<bias_mean>0.0000075</bias_mean>
          				<bias_stddev>0.0000008</bias_stddev>
        			</noise>
      			</x>
      			<y>
        			<noise type="gaussian">
          				<mean>0.0</mean>
          				<stddev>2e-4</stddev>
          				<bias_mean>0.0000075</bias_mean>
          				<bias_stddev>0.0000008</bias_stddev>
        			</noise>
      			</y>
      			<z>
        			<noise type="gaussian">
          				<mean>0.0</mean>
          				<stddev>2e-4</stddev>
          				<bias_mean>0.0000075</bias_mean>
          				<bias_stddev>0.0000008</bias_stddev>
        			</noise>
      			</z>
    		</angular_velocity>
    		<linear_acceleration>
    			<x>
					<noise type="gaussian">
    					<mean>0.0</mean>
    					<stddev>1.7e-2</stddev>
    					<bias_mean>0.1</bias_mean>
    					<bias_stddev>0.001</bias_stddev>
					</noise>
				</x>
				<y>
					<noise type="gaussian">
    					<mean>0.0</mean>
    					<stddev>1.7e-2</stddev>
    					<bias_mean>0.1</bias_mean>
    					<bias_stddev>0.001</bias_stddev>
					</noise>
				</y>
				<z>
					<noise type="gaussian">
    					<mean>0.0</mean>
    					<stddev>1.7e-2</stddev>
    					<bias_mean>0.1</bias_mean>
    					<bias_stddev>0.001</bias_stddev>
					</noise>
				</z>
			</linear_acceleration>
		</imu>
	</sensor>
	</gazebo> -->

    <!--camera-->
    <gazebo reference="camera_link">  
        <sensor type="depth" name="camera_sensor">
            <plugin name="depth_camera" filename="libgazebo_ros_camera.so">
                <frame_name>camera_optical_link</frame_name>
            </plugin>
            <always_on>true</always_on>
            <update_rate>10</update_rate>
            <camera name="camera">
                <horizontal_fov>1.5009831567</horizontal_fov>
                <image>
                    <width>800</width>
                    <height>600</height>
                    <format>R8G8B8</format>
                </image>
                <distortion>
                    <k1>0.0</k1>
                    <k2>0.0</k2>
                    <k3>0.0</k3>
                    <p1>0.0</p1>
                    <p2>0.0</p2>
                    <center>0.5 0.5</center>
                </distortion>
            </camera>
        </sensor>
    </gazebo>
</xacro:macro>

</robot>，然后问题“[ERROR] [gzserver-4]: process has died [pid 15574, exit code -11, cmd 'gzserver /home/wheeltec/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room4.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].”经测试，注释imu部分后gazebo中正常显示，可能是imu频率高了，所以，想问是这个问题吗？然后这个频率设置多少合适？

[tutu]

@tutu 绝了，之前在报错后注释imu部分试了好几次编译然后打开gazebo，都没有什么错误，刚刚又报错啊

[tutu]

@tutu 然后单独使用相机部分，就没有任何问题，感觉主要是这个雷达插件