ROS noetic麻烦打开凉亭

如何解决ROS noetic麻烦打开凉亭

我正在尝试运行命令“ roslaunch ivr_lab spawn.launch”，当我这样做时，它不起作用，如下所示。该过程只是冻结。我使用的是ROS noetic的Ubuntu 20，已经完成了必需的“ source /opt/ros/noetic/setup.bash”、“catkin_make”、“source devel / setup.bash”命令。 我已经尝试卸载并重新安装Ubuntu和ROS，似乎没有任何方法可以解决此问题。如您所见，我收到gazebo-gui-3进程已死亡的消息。任何指针将不胜感激。

... logging to /home/araff/.ros/log/cf38c406-0fc7-11eb-a196-80ce6246ff47/roslaunch-LAPTOP-*.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://LAPTOP-*:58434/

SUMMARY
========

ParaMETERS
 * /gazebo/enable_ros_network: True
 * /robot/joint1_position_controller/joint: base_to_link0
 * /robot/joint1_position_controller/pid/d: 10.0
 * /robot/joint1_position_controller/pid/i: 50.0
 * /robot/joint1_position_controller/pid/p: 100.0
 * /robot/joint1_position_controller/type: position_controll...
 * /robot/joint2_position_controller/joint: link0_to_link1
 * /robot/joint2_position_controller/pid/d: 10.0
 * /robot/joint2_position_controller/pid/i: 50.0
 * /robot/joint2_position_controller/pid/p: 100.0
 * /robot/joint2_position_controller/type: position_controll...
 * /robot/joint3_position_controller/joint: link1_to_link2
 * /robot/joint3_position_controller/pid/d: 10.0
 * /robot/joint3_position_controller/pid/i: 50.0
 * /robot/joint3_position_controller/pid/p: 100.0
 * /robot/joint3_position_controller/type: position_controll...
 * /robot/joint_state_controller/publish_rate: 50
 * /robot/joint_state_controller/type: joint_state_contr...
 * /robot/robot_description: <?xml version="1....
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.8
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    my_camera_spawn (gazebo_ros/spawn_model)
  /robot/
    controller_spawner (controller_manager/spawner)
    my_robot_spawn (gazebo_ros/spawn_model)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [5310]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to cf38c406-0fc7-11eb-a196-80ce6246ff47
process[rosout-1]: started with pid [5320]
started core service [/rosout]
process[gazebo-2]: started with pid [5326]
process[gazebo_gui-3]: started with pid [5329]
process[robot/my_robot_spawn-4]: started with pid [5332]
process[robot/controller_spawner-5]: started with pid [5335]
process[robot/robot_state_publisher-6]: started with pid [5338]
process[my_camera_spawn-7]: started with pid [5340]
[INFO] [1602863648.564227,0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1602863648.565088,0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1602863648.576085,0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1602863650.146582,0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1602863650.155074,0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1602863650.160515400]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1602863650.160991700]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1602863650.165816100]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised,waiting...
[ INFO] [1602863650.168979200]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised,waiting...
Aborted (core dumped)
[gazebo_gui-3] process has died [pid 5329,exit code 134,cmd /opt/ros/noetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/araff/.ros/log/cf38c406-0fc7-11eb-a196-80ce6246ff47/gazebo_gui-3.log].
log file: /home/araff/.ros/log/cf38c406-0fc7-11eb-a196-80ce6246ff47/gazebo_gui-3*.log
[INFO] [1602863650.466643,0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1602863650.473175300]: waitForService: Service [/gazebo/set_physics_properties] is Now available.
[INFO] [1602863650.703655,0.098000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1602863650.771089,0.098000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1602863650.788049800,0.098000000]: Physics dynamic reconfigure ready.
[ INFO] [1602863650.810948800,0.098000000]: Loading gazebo_ros_control plugin
[ INFO] [1602863650.811515300,0.098000000]: Starting gazebo_ros_control plugin in namespace: /robot/
[ INFO] [1602863650.813645900,0.098000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot/robot_description] on the ROS param server.
[ERROR] [1602863650.934345000,0.098000000]: No p gain specified for pid.  Namespace: /robot/gazebo_ros_control/pid_gains/base_to_link0
[ERROR] [1602863650.938428200,0.098000000]: No p gain specified for pid.  Namespace: /robot/gazebo_ros_control/pid_gains/link0_to_link1
[ERROR] [1602863650.942068500,0.098000000]: No p gain specified for pid.  Namespace: /robot/gazebo_ros_control/pid_gains/link1_to_link2
[ INFO] [1602863650.952659500,0.098000000]: Loaded gazebo_ros_control.
[INFO] [1602863650.988236,0.128000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1602863650.994746,0.132000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1602863651.001454,0.137000]: Loading controller: joint_state_controller
[INFO] [1602863651.020656,0.155000]: Loading controller: joint1_position_controller
[INFO] [1602863651.041364,0.173000]: Loading controller: joint2_position_controller
[INFO] [1602863651.056653,0.187000]: Loading controller: joint3_position_controller
[INFO] [1602863651.072166,0.199000]: Controller Spawner: Loaded controllers: joint_state_controller,joint1_position_controller,joint2_position_controller,joint3_position_controller
[INFO] [1602863651.083788,0.209000]: Started controllers: joint_state_controller,joint3_position_controller
[INFO] [1602863651.261310,0.265000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1602863651.361997700,0.265000000]: Loading gazebo_ros_control plugin
[ INFO] [1602863651.362544400,0.265000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1602863651.364810400,0.265000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1602863651.474633500,0.265000000]: Loaded gazebo_ros_control.
[robot/my_robot_spawn-4] process has finished cleanly
log file: /home/araff/.ros/log/cf38c406-0fc7-11eb-a196-80ce6246ff47/robot-my_robot_spawn-4*.log
[my_camera_spawn-7] process has finished cleanly
log file: /home/araff/.ros/log/cf38c406-0fc7-11eb-a196-80ce6246ff47/my_camera_spawn-7*.log