ROS STAGE教程4（Melodic Stage-4.3）stage_ros Segmentation fault (core dumped)

针对以前适用于stage 4.1, ROS Kinetic的world文件无法用于ROS Melodic系统

一致出现问题：Segmentation fault (core dumped)然后退出

步骤如下：

catkin_ws/src目录下：

git clone https://github.com/rtv/stage_ros.git

然后回到catkin_ws目录下，编译后stage_ros包用于替换系统原有包，用rospack find 查看路径是否正确！

catkin_make
source devel/setup.bash
rospack find stage_ros

修正后的world文件添加noise用于产生噪声，将show_data=0 关闭

define floorplan model
(
  # sombre, sensible, artistic
  color "gray30"

  # most maps will need a bounding box
  boundary 1

  gui_nose 0
  gui_grid 0
  gui_outline 0
  gui_move 0
  gripper_return 0
  fiducial_return 0
  ranger_return 1
)
resolution 0.02
interval_sim 20  # simulation timestep in milliseconds

# configure the GUI window
window
(
  size [ 0.33 0.33 0.2 ]
  #pose [ 0.0 0.0 0.0 0.0 ]
  localization "gps"
  localization_origin [ 0.0 0.0 0.0 0.0 ]

  # odometry error model parameters,
  # only used if localization is set to "odom"
  odom_error [ 0.0 0.0 0.0 0.0 ]
  #color "gray50"
  origin [ 0.0 0.0 0.0 0.0 ]
  #positonal things
  drive "diff"
  gui_nose 1
  laser(
        pose [ 0.0 0.0 0.5 0.0 ]
        alwayson 1
        )

)
robot
(
 name "roomba"
 pose [-8.0 6.0 0.0 0.0]
 color "green"
)

打开界面后可以选择 显示VIEW >> data

所有topic list

/clicked_point
/clock
/initialpose
/move_base_simple/goal
/rosout
/rosout_agg
/stage/roomba/cmd_vel
/stage/roomba/odometry
/stage/roomba/pose_ground_truth
/stage/roomba/ranger_0/laserscan
/tf
/tf_static