ROS Melodic自带的Gazebo版本过低,建议升级
~$ dpkg -l | grep gazebo
~$ sudo apt-get remove gazebo9 gazebo9-common gazebo9-plugin-base libgazebo9:amd64 libgazebo9-dev:amd64 ros-melodic-gazebo-*
~$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
~$ cat /etc/apt/sources.list.d/gazebo-stable.list
~$ wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
~$ sudo apt-get update
~$ sudo apt-get install gazebo11
~$ sudo apt-get install libgazebo11-dev
~$ sudo apt install ros-melodic-gazebo11-*
~$ gazebo