gazebo(1):gazebo常见问题及解决办法

目录

1 将自己创建的gazebo模型导入后，模型不停得抖动，翻转

2 save world as 之后卡死

3 下载gazebo官方模型：

4 gazebo更新后无法打开

5 运行gazebo后报错

6 Error Code 11 Msg: Unable to find uri[model://willowgarage]

7 启动roslaunch，卡在Waiting for service /gazebo/spawn_urdf_model

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1 将自己创建的gazebo模型导入后，模型不停得抖动，翻转

        导入自己建立的模型后，模型不停得抖动，翻转；一般是由于转动惯量设置不正确导致的，将模型文件model.sdf中与转动惯量有关内容全部注释掉；参考如下：

参考：消除Gazebo模型抖动_硬梆梆的马里奥的博客-CSDN博客_gazebo模型抖动

2 save world as 之后卡死

（1）如果只是单纯运行gazebo，那么在运行的指令前面加sudo，如：

sudo gazebo 

（2）如果是通过roslaunch运行，在打开终端后，先在终端运行：

sudo -s

        再运行 roslaunch

3 下载gazebo官方模型：

cd ~/.gazebo
mkdir -p models
cd models
git clone https://github.com/osrf/gazebo_models.git

4 gazebo更新后无法打开

报错如下：

meng@meng:~$ gazebo

gazebo: symbol lookup error: /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9: undefined symbol: _ZN8ignition10fuel_tools12ClientConfig12SetUserAgentERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE

sudo apt upgrade libignition-math2

参考：https://blog.csdn.net/qq_42703283/article/details/84484112

5 运行gazebo后报错

[gazebo-2] process has died [pid 23186, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode worlds/willowgarage.world __name:=gazebo __log:=/home/meng/.ros/log/79f75306-ea57-11ec-8f1b-1c697af31044/gazebo-2.log].

log file: /home/meng/.ros/log/79f75306-ea57-11ec-8f1b-1c697af31044/gazebo-2*.log

终端执行：killall gzserver  后重启gazebo

参考：

https://blog.csdn.net/m0_51309197/article/details/122643427

6 Error Code 11 Msg: Unable to find uri[model://willowgarage]

        一般会从网络寻找模型，不联网的话需要把gazebo的模型路径配置一下

export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:path-to-model

#我这里配置为“3”下载的模型
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:/home/meng/.gazebo/models/gazebo_models

参考：

https://blog.csdn.net/wang1997wwe/article/details/106730290

7 启动roslaunch，卡在Waiting for service /gazebo/spawn_urdf_model

        在launch文件里面修改include标签，参考如下：

将原来只有：

<include file="$(find gazebo_ros)/launch/willowgarage_world.launch">

修改为：

<!-- these are the arguments you can pass this launch file, for example paused:=true -->

<arg name="paused" default="false"/>

<arg name="use_sim_time" default="true"/>

<arg name="gui" default="true"/>

<arg name="headless" default="false"/>

<arg name="debug" default="false"/>


<!-- We resume the logic in empty_world.launch -->

<include file="$(find gazebo_ros)/launch/willowgarage_world.launch">

<arg name="debug" value="$(arg debug)" />

<arg name="gui" value="$(arg gui)" />

<arg name="paused" value="$(arg paused)"/>

<arg name="use_sim_time" value="$(arg use_sim_time)"/>

<arg name="headless" value="$(arg headless)"/>

<!-- arg name="world_name" value="$(find task_1)/world/tutorial_testing.world"/ -->

</include>

参考：

https://blog.csdn.net/qq_41301435/article/details/110003047