编写的功能包加载的世界模型文件路径如下:
ganahe@ganahe-Nitro-AN515-51:~/catkin_ws/src/autoNav_uav_ganahe/models$ pwd
/home/ganahe/catkin_ws/src/autoNav_uav_ganahe/models
ganahe@ganahe-Nitro-AN515-51:~/catkin_ws/src/autoNav_uav_ganahe/models$ pwd
/home/ganahe/catkin_ws/src/autoNav_uav_ganahe/models
而默认配置的Gazebo则正常,
分析得知模型路径未加入配置文件.bashrc中,检查后配置
echo export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:/home/ganahe/catkin_ws/src/px4_command/models >> ~/.bashrc
source ~/.bashrc
再次执行:
roslaunch autoNav_uav_ganahe ros_2DNav_ladar_ganahe.launch
问题解决。