[ERROR] [1632398141.557684, 290.045000]: Spawn service failed. Exiting.

执行gazebo启动文件时出现：

[ERROR] [1632398141.557684, 290.045000]: Spawn service failed. Exiting.

[urdf_spawner-6] process has died [pid 5510, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -urdf -model mrobot -param robot_description __name:=urdf_spawner __log:=/home/wyf/.ros/log/28660358-1c66-11ec-aa75-efd91e7f34ce/urdf_spawner-6.log].
log file: /home/wyf/.ros/log/28660358-1c66-11ec-aa75-efd91e7f34ce/urdf_spawner-6*.log

解决方法如下：

source ~/catkin_ws/devel/setup.bash

再次执行launch文件

还有问题改下仿真world文件中的仿真时间

<sim_time>478 56330000</sim_time>

改为 0

<sim_time>0</sim_time>