目录
1 将自己创建的gazebo模型导入后,模型不停得抖动,翻转
6 Error Code 11 Msg: Unable to find uri[model://willowgarage]
7 启动roslaunch,卡在Waiting for service /gazebo/spawn_urdf_model
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