Assertion `bAttached && “A new DepthBuffer for a RenderTarget was created, but after creation“ “it s

一、问题描述：

gzserver: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreRenderSystem.cpp:546: virtual void Ogre::RenderSystem::setDepthBufferFor(Ogre::RenderTarget*): Assertion `bAttached && "A new DepthBuffer for a RenderTarget was created, but after creation" "it says it's incompatible with that RT"' failed.
Aborted (core dumped)
[gazebo-2] process has died [pid 9873, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/joes/jiao/ROS_Project/src/ros23_urdf02_gazebo/worlds/box_house.world __name:=gazebo __log:=/home/joes/.ros/log/b3adcd7c-48e1-11ec-9f48-14f6d8d77445/gazebo-2.log].
log file: /home/joes/.ros/log/b3adcd7c-48e1-11ec-9f48-14f6d8d77445/gazebo-2*.log
[gazebo_gui-3] process has finished cleanly
log file: /home/joes/.ros/log/b3adcd7c-48e1-11ec-9f48-14f6d8d77445/gazebo_gui-3*.log

运行gazebo后，后台出现上述报警，在rviz中添加camera，无法获取图像，显示No image received。深度相机和点云，也无法正常显示。

二、解决方案：

1.查看gazebo版本

gazebo --version

显示为7.0.0

版本过老，进行gazebo升级，我是Ubuntu16.04 有gazebo7.0.0升级到gazebo9.18.0

2.升级gazebo9.18.0

①$sudo sh -c 'echo "deb  http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

②$wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

③$sudo apt-get update

④$sudo apt-get install gazebo9

⑤$sudo apt-get install libgazebo9-dev

3.前述步骤完成后，装gazebo9的环境

sudo apt install ros-kinetic-gazebo9*

再次运行，gazebo和rviz，可以在rviz中查看到摄像头的仿真图像、深度图像、点云图像