[Spawn service failed. Exiting] ROS2运行turtlebot3_gazebo例程卡住_报错

调试环境

Ubuntu20.04-Galactic
gazebo11

报错内容

在ROS2中运行

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

打开gazebo时图标直接卡住，world一直出不来，终端报错如下：

[spawn_entity.py-4] [ERROR] [1666579919.180097092] [spawn_entity]: Service %s/spawn_entity unavailable. Was Gazebo started with GazeboRosFactory?
[spawn_entity.py-4] [ERROR] [1666579919.182394989] [spawn_entity]: Spawn service failed. Exiting.
[ERROR] [spawn_entity.py-4]: process has died [pid 3040, exit code 1, cmd ‘/opt/ros/galactic/lib/gazebo_ros/spawn_entity.py -entity waffle -file /opt/ros/galactic/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf -x -2.0 -y -0.5 -z 0.01 --ros-args’].

[spawn_entity.py-4] [ERROR] [1666579919.180097092] [spawn_entity]: Service %s/spawn_entity unavailable. Was Gazebo started with GazeboRosFactory?
[spawn_entity.py-4] [ERROR] [1666579919.182394989] [spawn_entity]: Spawn service failed. Exiting.
[ERROR] [spawn_entity.py-4]: process has died [pid 3040, exit code 1, cmd '/opt/ros/galactic/lib/gazebo_ros/spawn_entity.py -entity waffle -file /opt/ros/galactic/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf -x -2.0 -y -0.5 -z 0.01 --ros-args'].

解决方法

添加models路径，终端输入以下指令
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/galactic/share/turtlebot3_gazebo/models
如果要避免每次都输入这句指令，可以将指令添加到~/.bashrc最后一行。

 export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/galactic/share/turtlebot3_gazebo/models