Failed to load plugin libgazebo_ros_gpu_laser.so: libgazebo_ros_gpu_laser.so: cannot open shared object file: No such file or directory

小猴同学

我的系统是ubuntu22.04 ros2 humble
当我在运行项目时，终端输出以下问题：

[Err] [Plugin.hh:212] Failed to load plugin  libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo:  libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo: cannot open shared object file: No such file or directory

和

[Err] [Plugin.hh:212] Failed to load plugin libgazebo_ros_gpu_laser.so: libgazebo_ros_gpu_laser.so: cannot open shared object file: No such file or directory

通过上网查找资料，我运行以下指令：

sudo apt-get install ros-humble-gazebo-ros-force-system
sudo apt-get install ros-humble-gazebo-ros-gpu-laser

发现无法定位相关的包，而且还有一点很奇怪，能够正常在gazebo中加载出模型，也能够正常拖动，但是鼠标一旦点击gazebo左边明细栏的model中机器人的模型，gazebo就会崩溃，需要强制退出，请问这两个问题应该如何解决呢？如果您能够提供答案，万分感激

小鱼

@yudonghou123 gazebo崩溃的终端有没有提示，是uuv的项目吗（如果是，我之前遇到过，是模型碰撞有些问题）

小猴同学

@小鱼您好，是UUV项目，当gazebo出现崩溃提示时，终端并没有输出任何提示，下面是在gazebo出现强制退出提示框时，运行gazebo环境时的终端输出：

[INFO] [launch]: All log files can be found below /home/user2/.ros/log/2023-01-03-09-33-56-166184-user2-31472
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [plankton_global_sim_time-1]: process started with pid [31485]
[INFO] [gzserver-2]: process started with pid [31487]
[INFO] [gzclient-3]: process started with pid [31489]
[INFO] [static_transform_publisher-4]: process started with pid [31491]
[INFO] [publish_world_models.py-5]: process started with pid [31493]
[static_transform_publisher-4] [WARN] [1672709636.802938475] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-4] [INFO] [1672709636.810684886] [world_ned_frame_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-4] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-4] rotation: ('0.707107', '0.707107', '0.000000', '0.000000')
[static_transform_publisher-4] from 'world' to 'world_ned'
[gzclient-3] WARNING: CPU random generator seem to be failing, disabling hardware random number generation
[gzclient-3] WARNING: RDRND generated: 0xffffffff 0xffffffff 0xffffffff 0xffffffff
[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] 
[publish_world_models.py-5] [INFO] [1672709637.277702701] [publish_world_models]: publish_world_models: start publishing vehicle footprints to RViz
[gzserver-2] [Msg] Waiting for master.
[gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-2] [Msg] Publicized address: 172.16.24.224
[gzserver-2] Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: NED frame. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
[gzserver-2] [INFO] [1672709638.500273424] [gazebo.gazebo_ros]: Publishing states of gazebo models at [/gazebo/model_states]
[gzserver-2] [INFO] [1672709638.500737383] [gazebo.gazebo_ros]: Publishing states of gazebo links at [/gazebo/link_states]
[publish_world_models.py-5] [INFO] [1672709638.584478737] [publish_world_models]: 
[publish_world_models.py-5] New model being published: heightmap
[publish_world_models.py-5]      Position: [0.0, 0.0, -95.0]
[publish_world_models.py-5]      Orientation: [0.0, 0.0, 0.0, 1.0]
[publish_world_models.py-5]      Scale: [1.0, 1.0, 1.0]
[publish_world_models.py-5] [INFO] [1672709638.584724503] [publish_world_models]: 
[publish_world_models.py-5] New model being published: seafloor
[publish_world_models.py-5]      Position: [0.0, 0.0, -100.0]
[publish_world_models.py-5]      Orientation: [0.0, 0.0, 0.0, 1.0]
[publish_world_models.py-5]      Scale: [1.0, 1.0, 1.0]
[publish_world_models.py-5] [INFO] [1672709638.584942054] [publish_world_models]: 
[publish_world_models.py-5] New model being published: north
[publish_world_models.py-5]      Position: [1000.0, 0.0, -50.0]
[publish_world_models.py-5]      Orientation: [0.0, 0.0, 0.0, 1.0]
[publish_world_models.py-5]      Scale: [1.0, 1.0, 1.0]
[publish_world_models.py-5] [INFO] [1672709638.585154456] [publish_world_models]: 
[publish_world_models.py-5] New model being published: south
[publish_world_models.py-5]      Position: [-1000.0, 0.0, -50.0]
[publish_world_models.py-5]      Orientation: [0.0, 0.0, 0.0, 1.0]
[publish_world_models.py-5]      Scale: [1.0, 1.0, 1.0]
[publish_world_models.py-5] [INFO] [1672709638.585369553] [publish_world_models]: 
[publish_world_models.py-5] New model being published: west
[publish_world_models.py-5]      Position: [0.0, -1000.0, -50.0]
[publish_world_models.py-5]      Orientation: [0.0, 0.0, 0.0, 1.0]
[publish_world_models.py-5]      Scale: [1.0, 1.0, 1.0]
[publish_world_models.py-5] [INFO] [1672709638.585596042] [publish_world_models]: 
[publish_world_models.py-5] New model being published: east
[publish_world_models.py-5]      Position: [0.0, 1000.0, -50.0]
[publish_world_models.py-5]      Orientation: [0.0, 0.0, 0.0, 1.0]
[publish_world_models.py-5]      Scale: [1.0, 1.0, 1.0]
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 172.16.24.224
[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] [Msg] Loading world file [/home/user2/auv_ws/install/uuv_gazebo_worlds/share/uuv_gazebo_worlds/worlds/ocean_waves.world]
[gzserver-2] [Msg] Loading underwater world...
[gzserver-2] [Msg] Current velocity [m/s] Gauss-Markov process model:
[gzserver-2] [Msg]      Mean = 0
[gzserver-2]    Min. Limit = 0
[gzserver-2]    Max. Limit = 5
[gzserver-2]    Mu = 0
[gzserver-2]    Noise Amp. = 0
[gzserver-2] [Msg] Current velocity horizontal angle [rad] Gauss-Markov process model:
[gzserver-2] [Msg]      Mean = 0
[gzserver-2]    Min. Limit = -3.14159
[gzserver-2]    Max. Limit = 3.14159
[gzserver-2]    Mu = 0
[gzserver-2]    Noise Amp. = 0
[gzserver-2] [Msg] Current velocity horizontal angle [rad] Gauss-Markov process model:
[gzserver-2] [Msg]      Mean = 0
[gzserver-2]    Min. Limit = -3.14159
[gzserver-2]    Max. Limit = 3.14159
[gzserver-2]    Mu = 0
[gzserver-2]    Noise Amp. = 0
[gzserver-2] [Msg] Current velocity topic name: hydrodynamics/current_velocity
[gzserver-2] [Msg] Underwater current plugin loaded!
[gzserver-2]    WARNING: Current velocity calculated in the ENU frame
[gzserver-2] [Msg] [UnderwaterCurrentROSPlugin] Node created with name: underwater_current_plugin with namespace: /hydrodynamics
[gzserver-2] [Msg] [SphericalCoordinatesROSInterfacePlugin] Node created with name: sc_interface with namespace: /
[gzserver-2] [Msg] Spherical coordinates reference=
[gzserver-2]    - Latitude [degrees]=56.719
[gzserver-2]    - Longitude [degrees]=3.51562
[gzserver-2]    - Altitude [m]=0
[gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzserver-2] [INFO] [1672709644.635819479] [camera_controller]: Publishing camera info to [/eca_a9/camera/camera_info]
[gzserver-2] [Msg] GPSROSPlugin - Loading base sensor plugin
[gzserver-2] [Msg] [eca_a9_gazebo_gps_ros_plugin] Node created
[gzserver-2]     - with name: eca_a9_gazebo_gps_ros_plugin
[gzserver-2]     - with ns: /eca_a9
[gzserver-2] [Msg] GPSROSPlugin - Converting GPS sensor pointer
[gzserver-2] [Msg] GPSROSPlugin - Initialize sensor topic publisher
[gzserver-2] [Err] [Plugin.hh:212] Failed to load plugin libgazebo_ros_gpu_laser.so: libgazebo_ros_gpu_laser.so: cannot open shared object file: No such file or directory
[gzserver-2] [Err] [Plugin.hh:212] Failed to load plugin libgazebo_ros_gpu_laser.so: libgazebo_ros_gpu_laser.so: cannot open shared object file: No such file or directory
[gzserver-2] Registered HydrodynamicModel type fossen
[gzserver-2] Registered HydrodynamicModel type sphere
[gzserver-2] Registered HydrodynamicModel type cylinder
[gzserver-2] Registered HydrodynamicModel type spheroid
[gzserver-2] Registered HydrodynamicModel type box
[gzserver-2] [Msg] [UnderwaterObjectROSPlugin]: Node created. Name: eca_a9_uuv_plugin, namespace: /
[gzserver-2] [Msg] Subscribing to current velocity topic: hydrodynamics/current_velocity
[gzserver-2] [Msg] Name of the BASE_LINK: eca_a9/base_link
[gzserver-2] [Msg] HMFossen: Using linear damping NULL
[gzserver-2] [Msg] HMFossen: Using quad damping NULL
[gzserver-2] eca_a9::eca_a9/base_link::added_mass
[gzserver-2]            4           0           0           0           0           0
[gzserver-2]            0          95           0           0           0           0
[gzserver-2]            0           0          75           0           0           0
[gzserver-2]            0           0           0         0.4           0           0
[gzserver-2]            0           0           0           0          27           0
[gzserver-2]            0           0           0           0           0          32
[gzserver-2] eca_a9::eca_a9/base_link::scaling_added_mass
[gzserver-2] eca_a9::eca_a9/base_link::offset_added_mass
[gzserver-2] eca_a9::eca_a9/base_link::linear_damping
[gzserver-2]            0           0           0           0           0           0
[gzserver-2]            0           0           0           0           0           0
[gzserver-2]            0           0           0           0           0           0
[gzserver-2]            0           0           0           0           0           0
[gzserver-2]            0           0           0           0           0           0
[gzserver-2]            0           0           0           0           0           0
[gzserver-2] eca_a9::eca_a9/base_link::linear_damping_forward_speed
[gzserver-2]           -8           0           0           0           0           0
[gzserver-2]            0        -162           0           0           0         150
[gzserver-2]            0           0        -108           0        -100           0
[gzserver-2]            0           0           0         -13           0           0
[gzserver-2]            0           0          37           0         -20           0
[gzserver-2]            0         -34           0           0           0         -32
[gzserver-2] eca_a9::eca_a9/base_link::quadratic_damping
[gzserver-2]            0           0           0           0           0           0
[gzserver-2]            0           0           0           0           0           0
[gzserver-2]            0           0           0           0           0           0
[gzserver-2]            0           0           0           0           0           0
[gzserver-2]            0           0           0           0           0           0
[gzserver-2]            0           0           0           0           0           0
[gzserver-2] eca_a9::eca_a9/base_link::scaling_damping
[gzserver-2] eca_a9::eca_a9/base_link::offset_linear_damping
[gzserver-2] eca_a9::eca_a9/base_link::offset_lin_forward_speed_damping
[gzserver-2] eca_a9::eca_a9/base_link::offset_nonlin_damping
[gzserver-2] eca_a9::eca_a9/base_link::volume
[gzserver-2]    0.0679999 m^3
[gzserver-2] eca_a9::eca_a9/base_link::scaling_volume
[gzserver-2] Registered ThrusterDynamics type ZeroOrder
[gzserver-2] Registered ThrusterDynamics type FirstOrder
[gzserver-2] Registered ThrusterDynamics type Yoerger
[gzserver-2] Registered ThrusterDynamics type Bessa
[gzserver-2] Registered LiftDrag type Quadratic
[gzserver-2] Registered LiftDrag type TwoLines
[gzserver-2] [INFO] [1672709645.197180352] [eca_a9_fin0_model]: [FinROSPlugin] Namespace: 
[gzserver-2] [INFO] [1672709645.214025420] [eca_a9_fin1_model]: [FinROSPlugin] Namespace: 
[gzserver-2] [INFO] [1672709645.220164371] [eca_a9_fin2_model]: [FinROSPlugin] Namespace: 
[gzserver-2] [INFO] [1672709645.225986638] [eca_a9_fin3_model]: [FinROSPlugin] Namespace: 
[gzserver-2] [Msg] Subscribing to current velocity topic: hydrodynamics/current_velocity
[gzserver-2] [Msg] Fin #0 initialized
[gzserver-2]    - Link: eca_a9/fin0
[gzserver-2]    - Robot model: eca_a9
[gzserver-2]    - Input command topic: /eca_a9/fins/id_0/input
[gzserver-2]    - Output topic: /eca_a9/fins/id_0/output
[gzserver-2] [Msg] Subscribing to current velocity topic: hydrodynamics/current_velocity
[gzserver-2] [Msg] Fin #1 initialized
[gzserver-2]    - Link: eca_a9/fin1
[gzserver-2]    - Robot model: eca_a9
[gzserver-2]    - Input command topic: /eca_a9/fins/id_1/input
[gzserver-2]    - Output topic: /eca_a9/fins/id_1/output
[gzserver-2] [Msg] Subscribing to current velocity topic: hydrodynamics/current_velocity
[gzserver-2] [Msg] Fin #2 initialized
[gzserver-2]    - Link: eca_a9/fin2
[gzserver-2]    - Robot model: eca_a9
[gzserver-2]    - Input command topic: /eca_a9/fins/id_2/input
[gzserver-2]    - Output topic: /eca_a9/fins/id_2/output
[gzserver-2] [Msg] Subscribing to current velocity topic: hydrodynamics/current_velocity
[gzserver-2] [Msg] Fin #3 initialized
[gzserver-2]    - Link: eca_a9/fin3
[gzserver-2]    - Robot model: eca_a9
[gzserver-2]    - Input command topic: /eca_a9/fins/id_3/input
[gzserver-2]    - Output topic: /eca_a9/fins/id_3/output
[gzserver-2] Registered ConversionFunction type Basic
[gzserver-2] Registered ConversionFunction type Bessa
[gzserver-2] Registered ConversionFunction type LinearInterp
[gzserver-2] [WARN] [1672709645.332107307] [tf2_buffer]: Detected time source change. Clearing TF buffer.
[gzserver-2] [Msg] ConversionFunctionBasic::Create conversion function
[gzserver-2]    - rotorConstant: 4.9e-05
[gzserver-2] [Msg] [ThrusterROSPlugin] Node created with name: eca_a9_0_thruster_model, with ns: /
[gzserver-2] [Msg] Thruster #0 initialized
[gzserver-2]    - Link: eca_a9/thruster_0
[gzserver-2]    - Robot model: eca_a9
[gzserver-2]    - Input command topic: /eca_a9/thrusters/id_0/input
[gzserver-2]    - Thrust output topic: /eca_a9/thrusters/id_0/thrust
[gzserver-2] [Msg] ROS Battery Plugin for link <eca_a9/battery_link> initialized
[gzserver-2]    - Initial charge [Ah]=1.1665
[gzserver-2]    - Update rate [Hz]=2
[gzserver-2] [Msg] [pose_3d_plugin] Node created
[gzserver-2]     - with name: pose_3d_plugin
[gzserver-2]     - with ns: /eca_a9
[gzserver-2] [Msg] Static reference frame=world_ned
[gzserver-2] [Msg] [libuuv_gazebo_dvl_plugin] Node created
[gzserver-2]     - with name: libuuv_gazebo_dvl_plugin
[gzserver-2]     - with ns: /eca_a9
[gzserver-2] [Msg] Static reference frame=world
[gzserver-2] [Msg] CustomBatteryConsumerROSPlugin::Device <eca_a9_dvl_battery_consumer> added as battery consumer for the battery <eca_a9/battery_link>
[gzserver-2]    - ID=0
[gzserver-2]    - Power load [W]=25
[gzserver-2] [Msg] CustomBatteryConsumerROSPlugin::Device <eca_a9_sonarleft_battery_consumer> added as battery consumer for the battery <eca_a9/battery_link>
[gzserver-2]    - ID=1
[gzserver-2]    - Power load [W]=25
[gzserver-2] [Msg] CustomBatteryConsumerROSPlugin::Device <eca_a9_sonarright_battery_consumer> added as battery consumer for the battery <eca_a9/battery_link>
[gzserver-2]    - ID=2
[gzserver-2]    - Power load [W]=25
[gzserver-2] [Msg] [libuuv_gazebo_subseapressure_plugin] Node created
[gzserver-2]     - with name: libuuv_gazebo_subseapressure_plugin
[gzserver-2]     - with ns: /eca_a9
[gzserver-2] [Msg] CustomBatteryConsumerROSPlugin::Device <eca_a9_pressure_battery_consumer> added as battery consumer for the battery <eca_a9/battery_link>
[gzserver-2]    - ID=3
[gzserver-2]    - Power load [W]=5
[gzserver-2] [Msg] [libuuv_gazebo_imu_plugin] Node created
[gzserver-2]     - with name: libuuv_gazebo_imu_plugin
[gzserver-2]     - with ns: /eca_a9
[gzserver-2] [Msg] Static reference frame=world
[gzserver-2] gzserver: /home/user2/auv_ws/src/Plankton-master/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/src/CustomBatteryConsumerROSPlugin.cpp:62: virtual void gazebo::CustomBatteryConsumerROSPlugin::Load(gazebo::physics::ModelPtr, sdf::v9::ElementPtr): Assertion `(this->battery)&&("Battery was NULL")' failed.
[ERROR] [gzserver-2]: process has died [pid 31487, exit code -6, cmd 'gzserver worlds/ocean_waves.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[gzserver-2] 
gzclient-3] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/oceans_waves/user_camera/pose, deleting message. This warning is printed only once.

运行机器人模型的终端输出没有任何提示，您看看，若能解决，非常感谢，也谢谢您之前的解答，您身体刚阳康，也不要过多劳累，注意休息

小鱼

@yudonghou123 在 Failed to load plugin libgazebo_ros_gpu_laser.so: libgazebo_ros_gpu_laser.so: cannot open shared object file: No such file or directory 中说：

Battery was NULL

可以搜一搜代码中这句话，看看是个什么情况

小猴同学

@小鱼非常感谢您的解答，我查了一下，发现在他的uuv_gazebo_ros_plugins/src/CustomBatteryConsumerROSPlugin.cpp中关于其是这么描述的：

  GZ_ASSERT(_sdf->HasElement("battery_name"), "Battery name is missing");
  this->batteryName = _sdf->Get<std::string>("battery_name");
  this->battery = link->Battery(this->batteryName);
  GZ_ASSERT(this->battery, "Battery was NULL");

其完整程序如下：

// Copyright (c) 2020 The Plankton Authors.
// All rights reserved.
//
// This source code is derived from UUV Simulator
// (https://github.com/uuvsimulator/uuv_simulator)
// Copyright (c) 2016-2019 The UUV Simulator Authors
// licensed under the Apache license, Version 2.0
// cf. 3rd-party-licenses.txt file in the root directory of this source tree.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <uuv_gazebo_ros_plugins/CustomBatteryConsumerROSPlugin.h>

namespace gazebo
{
/////////////////////////////////////////////////
CustomBatteryConsumerROSPlugin::CustomBatteryConsumerROSPlugin()
{
  this->isDeviceOn = true;
}

/////////////////////////////////////////////////
CustomBatteryConsumerROSPlugin::~CustomBatteryConsumerROSPlugin()
{
}

/////////////////////////////////////////////////
void CustomBatteryConsumerROSPlugin::Load(physics::ModelPtr _parent,
  sdf::ElementPtr _sdf)
{
  if (!rclcpp::ok())
  {
    gzerr << "Not loading plugin since ROS has not been "
          << "properly initialized.  Try starting gazebo with ros plugin:\n"
          << "  gazebo -s libgazebo_ros_api_plugin.so\n";
    return;
  }

  //Create the ROS node with the plugin's name
  //TODO Check uniqueness of the node
  myRosNode = gazebo_ros::Node::CreateWithArgs(_sdf->Get<std::string>("name"));  //gazebo_ros::Node::Get(_sdf);
  // new ros::NodeHandle(""));

  GZ_ASSERT(_sdf->HasElement("link_name"), "Battery link name (link_name) is missing");
  this->linkName = _sdf->Get<std::string>("link_name");
  physics::LinkPtr link = _parent->GetLink(this->linkName);
  GZ_ASSERT(link, "Consumer plugin: battery link was NULL");

  GZ_ASSERT(_sdf->HasElement("battery_name"), "Battery name is missing");
  this->batteryName = _sdf->Get<std::string>("battery_name");
  this->battery = link->Battery(this->batteryName);
  GZ_ASSERT(this->battery, "Battery was NULL");

  GZ_ASSERT(_sdf->HasElement("power_load"), "Power load is missing");
  this->powerLoad = _sdf->Get<double>("power_load");

  GZ_ASSERT(this->powerLoad > 0, "Power load must be greater than zero");

  // Adding consumer
  this->consumerID = this->battery->AddConsumer();

  if (_sdf->HasElement("topic_device_state"))
  {
    std::string topicName = _sdf->Get<std::string>("topic_device_state");
    if (!topicName.empty())
        myDeviceStateSub = myRosNode->create_subscription<std_msgs::msg::Bool>(
          topicName, 1,
          std::bind(&CustomBatteryConsumerROSPlugin::UpdateDeviceState,
          this, std::placeholders::_1));
  }
  else
  {
    // In the case the device is always on, then set the power load only once
    this->UpdatePowerLoad(this->powerLoad);
  }

  gzmsg << "CustomBatteryConsumerROSPlugin::Device <"
    << _sdf->Get<std::string>("name") 
    << "> added as battery consumer for the battery <" 
    << this->linkName << ">" << std::endl
    << "\t- ID=" << this->consumerID << std::endl
    << "\t- Power load [W]=" << this->powerLoad
    << std::endl;
}

/////////////////////////////////////////////////
void CustomBatteryConsumerROSPlugin::UpdateDeviceState(
  const std_msgs::msg::Bool::SharedPtr _msg)
{
  this->isDeviceOn = _msg->data;
  if (this->isDeviceOn)
    this->UpdatePowerLoad(this->powerLoad);
  else
    this->UpdatePowerLoad(0.0);
}

/////////////////////////////////////////////////
void CustomBatteryConsumerROSPlugin::UpdatePowerLoad(double _powerLoad)
{
  if (!this->battery->SetPowerLoad(this->consumerID, _powerLoad))
    gzerr << "Error setting the consumer power load" << std::endl;
}

GZ_REGISTER_MODEL_PLUGIN(CustomBatteryConsumerROSPlugin)
}

下面是机器人urdf文件关于这个battery的内容，还是命名空间的问题吗？

<link name="eca_a9/battery_link">
    <inertial>
      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
      <mass value="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </inertial>
  </link>
  <joint name="eca_a9/battery_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="eca_a9/base_link"/>
    <child link="eca_a9/battery_link"/>
    <axis xyz="1 0 0"/>
    <limit effort="0" lower="0" upper="0" velocity="0"/>
  </joint>
  <gazebo reference="eca_a9/battery_link">
    <battery name="eca_a9/battery">
      <voltage>4.2</voltage>
    </battery>
  </gazebo>
  <gazebo>
    <plugin filename="liblinear_battery_ros_plugin.so" name="eca_a9_linear_battery_ros_plugin">
      <ros>
        <namespace>eca_a9</namespace>
      </ros>
      <!-- <namespace>${namespace}</namespace> -->
      <link_name>eca_a9/battery_link</link_name>
      <battery_name>eca_a9/battery</battery_name>
      <open_circuit_voltage_constant_coef>3.7</open_circuit_voltage_constant_coef>
      <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
      <initial_charge>1.1665</initial_charge>
      <capacity>0.5</capacity>
      <resistance>0.002</resistance>
      <smooth_current_tau>1.9499</smooth_current_tau>
      <update_rate>2.0</update_rate>
    </plugin>
  </gazebo>

小猴同学

此回复已被删除！

小猴同学

@yudonghou123
其参数的launch文件为：

<launch>
  <arg name="debug" default="0"/>
  <arg name="x" default="0"/>
  <arg name="y" default="0"/>
  <arg name="z" default="-20"/>
  <arg name="roll" default="0.0"/>
  <arg name="pitch" default="0.0"/>
  <arg name="yaw" default="0.0"/>

  <arg name="use_sim_time" default="true"/>
  <arg name="use_geodetic" default="false"/>
  <arg name="latitude" default="0"/>
  <arg name="longitude" default="0"/>
  <arg name="depth" default="0"/>

  <arg name="mode" default="default"/>
  <arg name="namespace" default="eca_a9"/>
  <arg name="latitude_ref" default="0"/>
  <arg name="longitude_ref" default="0"/>
  <arg name="altitude_ref" default="0"/>

  <arg name="use_ned_frame" default="true"/>
  <arg name="generated_urdf" default="$(find-pkg-share eca_a9_description)/robots/generated/$(var namespace)/robot_description"/>
  <arg name="cmd"
       default="$(exec-in-pkg xacro xacro) '$(find-pkg-share eca_a9_description)/robots/eca_a9_$(var mode).urdf.xacro'
          debug:=$(var debug)
          namespace:=$(var namespace)
          inertial_reference_frame:=world_ned
          > $(var generated_urdf)
          " />
  <arg name="cmdUnless"
       default="$(exec-in-pkg xacro xacro) '$(find-pkg-share eca_a9_description)/robots/eca_a9_$(var mode).urdf.xacro'
          debug:=$(var debug)
          namespace:=$(var namespace)
          inertial_reference_frame:=world 
          > $(var generated_urdf)
          " />


    <!-- Mode to open different robot configurations as set the in file )
  nomenclature standard for the files in /robots

  /robots/<mode>.xacro
  -->
  <arg name="mode" default="default"/>

  <!-- Vehicle's namespace -->
  <arg name="namespace" default="eca_a9"/>

  <include file="$(find-pkg-share eca_a9_description)/launch/upload_eca_a9.launch.py">
    <arg name="debug" value="$(var debug)"/>
    <arg name="x" value="$(var x)"/>
    <arg name="y" value="$(var y)"/>
    <arg name="z" value="$(var z)"/>
    <arg name="roll" value="$(var roll)"/>
    <arg name="pitch" value="$(var pitch)"/>
    <arg name="yaw" value="$(var yaw)"/>
    <arg name="use_ned_frame" value="$(var use_ned_frame)"/>
    <arg name="namespace" value="$(var namespace)"/>
    <!-- <arg name="use_sim_time" value="$(var use_sim_time)"/> -->
  </include>
  <!-- <group>
    <push-ros-namespace namespace="$(var namespace)" />

    <group if="$(var use_ned_frame)">
      <executable
        cmd="$(var cmd)"
        name="robot_description"
        output="screen"
        shell="true">
      </executable>
    </group>

    <group unless="$(var use_ned_frame)">
      <executable
        cmd="$(var cmdUnless)"
        cwd="$(find-pkg-prefix xacro)"
        name="robot_description"
        output="screen"
        shell="true">
      </executable>
    </group> -->

    <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
    <!-- <group if="$(var use_geodetic)">
      <node
        name="urdf_spawner"
        pkg="gazebo_ros"
        exec="spawn_entity.py"
        respawn="false"
        output="screen"
        args="
          -latitude $(var latitude)
          -longitude $(var longitude)
          -depth $(var depth)
          -latitude_ref $(var latitude_ref)
          -longitude_ref $(var longitude_ref)
          -altitude_ref $(var altitude_ref)
          -R $(var roll)
          -P $(var pitch)
          -Y $(var yaw)
          -entity $(var namespace)
          -file $(var generated_urdf)
        "/>
    </group>

    <group unless="$(var use_geodetic)">
      <node
        name="urdf_spawner"
        pkg="gazebo_ros"
        exec="spawn_entity.py"
        respawn="false"
        output="screen"
        args="
          -x $(var x)
          -y $(var y)
          -z $(var z)
          -R $(var roll)
          -P $(var pitch)
          -Y $(var yaw)
          -entity $(var namespace)
          -file $(var generated_urdf)
        "/>
    </group> -->

    <!-- A joint state publisher plugin already is started with the model, no need to use the default joint state publisher  -gazebo_namespace /gazebo-->

    <!-- Publish robot model for ROS -->
     <!--     <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher" output="screen">
      <param name="robot_description" value="/$(var namespace)/robot_description" />
      <param name="use_sim_time" value="$(var use_sim_time)" />
    </node> -->
    <!-- <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher" respawn="true" output="screen"
      args="$(var generated_urdf)">
      <param name="use_sim_time" value="$(var use_sim_time)"/>
    </node>
  </group> -->

  <!--publish state and tf for in relation to the world frame -->
<!--   <include file="$(find-pkg-share uuv_assistants)/launch/message_to_tf.launch">
    <arg name="namespace" value="$(var namespace)"/>
    <arg name="world_frame" value="world"/>
    <arg name="child_frame_id" value="/$(var namespace)/base_link"/>
  </include> -->

</launch>

江花月夜

@yudonghou123 您好，我也遇到了相同的问题，请问您最后如何解决的