gazebo崩溃

1  虚拟机下打开gazebo报错：VMware: vmw_ioctl_command error Invalid argument

[ INFO] [1610283240.619937255, 0.180000000]: LeePositionController got first odometry message.
VMware: vmw_ioctl_command error Invalid argument.
Aborted (core dumped)
[gazebo_gui-3] process has died [pid 29956, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/wang/.ros/log/e6029f54-5342-11eb-a1d3-000c292a3486/gazebo_gui-3.log].
log file: /home/wang/.ros/log/e6029f54-5342-11eb-a1d3-000c292a3486/gazebo_gui-3*.log

解决方案：设置环境变量

上面我们也讲到了，报错的原因大概是不合法的变量导致的，应该是启动gazebo的时候加载系统的某个环境变量的时候虚拟机无法完美识别导致的，所以知道了原因后，追根溯源，我们找到了以下修复方案，加入环境变量：

export SVGA_VGPU10=0

在shell中运行以上语句，但是这种方法有个坏处就是每次打开新的shell这个环境变量就失效了，所以我们需要将其加入到用户的环境变量，这样每次启动就可以自动运行此码；

echo "export SVGA_VGPU10=0" >> ~/.bashrc

from  https://blog.csdn.net/weixin_43059285/article/details/108012524

2  gazebo崩溃gazebo-2 process has died exit code 139

[ INFO] [1610283508.369598606, 0.220000000]: LeePositionController got first odometry message.
Segmentation fault (core dumped)
[gazebo_gui-3] process has died [pid 31359, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/wang/.ros/log/858d7d5a-5343-11eb-a1d3-000c292a3486/gazebo_gui-3.log].
log file: /home/wang/.ros/log/858d7d5a-5343-11eb-a1d3-000c292a3486/gazebo_gui-3*.log

最终解决方案！！！

export LIBGL_ALWAYS_SOFTWARE=1

这样就可以使用3D加速了。

对于其他错误用 $top 命令查看任务管理器中是否还残留有gzserver or gzclient

通过

$source ~/catkin_ws/devel/setup.bash

$killall gzserver 

$killall gzclient

可以尝试然后重新启动roslaunch [launch.file]

from: https://blog.csdn.net/li4692625/article/details/108244415