Ubuntu16.04安装ROS后运行gazebo报错 it says it‘s incompatible with that RT“‘ failed.

Ubuntu16.04系统安装ROS（kinetic版本）后，使用ROS包含的gazebo时报错，gzserver: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain /src/OgreRenderSystem.cpp:546: virtual void Ogre::RenderSystem::setDepthBufferFor (Ogre::RenderTarget*): Assertion `bAttached && "A new DepthBuffer for a RenderTarget was created, but after creation" "it says it's incompatible with that RT"' failed.以及 Called publishAsync but publisher thread has not been started, THIS IS NOT RT safe. You should start it yourself。

1. 报错原因是ROS自带的gazebo版本太低

通过下面指令可以看到gazebo版本是7.0.0

gazebo --version

2. 升级gazebo 

2.1 添加下载源

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sou