CMU,[gazebo]process has died.报错解决.VLP-16.velodyne

解决方法：

sudo apt-get install ros-noetic-velodyne-*

报错：

        roslaunch vehicle_simulator system_garage.launch 一输入就报各种各样的process has died，接着就是Gazebo卡死，这个错误困扰了笔者几个星期。

心路历程：

         笔者踏踏实实从基础开始学

https://so.csdn.net/so/search?q=%E4%BB%BF%E7%9C%9F%E6%9C%BA%E5%99%A8%E4%BA%BA&t=blog&u=Netceor&urw=

        从头开始了解了launch文件、xacro文件和world文件，并了解他们的语法、关系和作用。

        后面再一一从launch文件入手，查看到底是哪段代码让Gazebo“便秘”？

一、查看launch文件

逐段注释运行，最后发现是vehicle_simulator.lauch除了问题

<launch>

  <arg name="world_name" default="garage"/>
  <arg name="vehicleHeight" default="0.75"/>
  <arg name="cameraOffsetZ" default="0"/>
  <arg name="vehicleX" default="0"/>
  <arg name="vehicleY" default="0"/>
  <arg name="terrainZ" default="0"/>
  <arg name="vehicleYaw" default="0"/>
  <arg name="gazebo_gui" default="true"/>
  <arg name="checkTerrainConn" default="true"/>

  <include file="$(find ps3joy)/launch/ps3.launch" />

  <include file="$(find local_planner)/launch/local_planner.launch" >
    <arg name="cameraOffsetZ" value="$(arg cameraOffsetZ)"/>
    <arg name="goalX" value="$(arg vehicleX)"/>
    <arg name="goalY" value="$(arg vehicleY)"/>
  </include>

  <include file="$(find terrain_analysis)/launch/terrain_analysis.launch" />

  <include file="$(find terrain_analysis_ext)/launch/terrain_analysis_ext.launch" >
    <arg name="checkTerrainConn" value="$(arg checkTerrainConn)"/>
  </include>

  <include file="$(find vehicle_simulator)/launch/vehicle_simulator.launch" >
    <arg name="world_name" value="$(arg world_name)"/>
    <arg name="vehicleHeight" value="$(arg vehicleHeight)"/>
    <arg name="cameraOffsetZ" value="$(arg cameraOffsetZ)"/>
    <arg name="vehicleX" value="$(arg vehicleX)"/>
    <arg name="vehicleY" value="$(arg vehicleY)"/>
    <arg name="terrainZ" value="$(arg terrainZ)"/>
    <arg name="vehicleYaw" value="$(arg vehicleYaw)"/>
    <arg name="gui" value="$(arg gazebo_gui)"/>
  </include>

  <include file="$(find sensor_scan_generation)/launch/sensor_scan_generation.launch" />

  <include file="$(find visualization_tools)/launch/visualization_tools.launch" >
    <arg name="world_name" value="$(arg world_name)"/>
  </include>

  <node launch-prefix="nice" pkg="rviz" type="rviz" name="rvizGA" args="-d $(find vehicle_simulator)/rviz/vehicle_simulator.rviz" respawn="true"/>

</launch>

二、进入vehicle_simulator.lauch

继续逐段注释运行，发现camera link摄像头传感器和lidar link这段注释后，Gazebo不便秘了。

  <param name="camera_description" command="$(find xacro)/xacro --inorder '$(find vehicle_simulator)/urdf/camera.urdf.xacro'" />
  <node pkg="gazebo_ros" type="spawn_model" name="spawn_camera" args="-urdf -param /camera_description -model camera"/>

  <param name="lidar_description" command="$(find xacro)/xacro --inorder '$(find vehicle_simulator)/urdf/lidar.urdf.xacro'" />
  <node pkg="gazebo_ros" type="spawn_model" name="spawn_lidar" args="-urdf -param /lidar_description -model lidar"/>

  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find vehicle_simulator)/urdf/robot.urdf.xacro'" />
  <node pkg="gazebo_ros" type="spawn_model" name="spawn_robot" args="-urdf -param /robot_description -model robot"/>

三、最后发现仅注释掉lidar，留下camera能够正常运行

终端显示：

这说明是lidar的问题。

四、查找VLP-16发现这个是16束激光雷达，与普通的相比就是多了空间的概念，能够把立体轮廓扫描出来。

        然后查找Gazebo VLP-16仿真教程，并尝试安装环境、跑一遍。

https://blog.csdn.net/weixin_44570248/article/details/121974171

        最后发现还有包没有安装完毕：

sudo apt-get install ros-noetic-velodyne-*

再次运行，成功运行：