turtlebot_world.launch打不开,卡在Gazebo启动界面问题解决

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简介: turtlebot_world.launch打不开,卡在Gazebo启动界面问题解决

问题描述

在工作空间下执行以下指令

roslaunch turtlebot_gazebo turtlebot_world.launch

终端内容如下,并卡在【Physics dynamic reconfigure ready.】这句不动了

... logging to /home/lhj/.ros/log/460c37f2-a78d-11ed-85b4-c858c0b868a7/roslaunch-lhj-Lenovo-8741.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.
started roslaunch server http://lhj-Lenovo:36233/
SUMMARY
========
PARAMETERS
 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /cmd_vel_mux/yaml_cfg_file: /home/lhj/ontolog...
 * /depthimage_to_laserscan/output_frame_id: camera_depth_frame
 * /depthimage_to_laserscan/range_min: 0.45
 * /depthimage_to_laserscan/scan_height: 10
 * /gazebo/enable_ros_network: True
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /use_sim_time: True
NODES
  /
    bumper2pointcloud (nodelet/nodelet)
    cmd_vel_mux (nodelet/nodelet)
    depthimage_to_laserscan (nodelet/nodelet)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    laserscan_nodelet_manager (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_turtlebot_model (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [8776]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 460c37f2-a78d-11ed-85b4-c858c0b868a7
process[rosout-1]: started with pid [8798]
started core service [/rosout]
process[gazebo-2]: started with pid [8805]
process[gazebo_gui-3]: started with pid [8810]
process[spawn_turtlebot_model-4]: started with pid [8815]
process[mobile_base_nodelet_manager-5]: started with pid [8816]
process[cmd_vel_mux-6]: started with pid [8817]
process[bumper2pointcloud-7]: started with pid [8818]
process[robot_state_publisher-8]: started with pid [8820]
process[laserscan_nodelet_manager-9]: started with pid [8829]
process[depthimage_to_laserscan-10]: started with pid [8835]
[ INFO] [1675846074.144006979]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1675846074.144957413]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1675846074.225662399]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1675846074.226633664]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1675846074.674315811]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1675846074.685590537]: Physics dynamic reconfigure ready.

此时Gazebo虽然打开了,但是是黑屏状态,电脑像死机一样


问题原因

Gazebo打开的时候,会先从网上或者它自己的模型库里检索模型,然后才会从其他包里导入模型,所以如果找不到目标模型的话,打开Gazebo就会发现一直卡着不动

解决方法

切断电脑网络,重新执行指令

roslaunch turtlebot_gazebo turtlebot_world.launch

会发现很顺利

想要以后每次打开的时候都不需要断网的话,需要你自己下载模型并放到模型目录下

首先访问连接:https://github.com/osrf/gazebo_models

直接下载为压缩包

下载好之后,解压所有模型到home/.gazebo/models文件夹下

问题解决

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阿里云资源编排ROS使用教程
资源编排(Resource Orchestration)是一种简单易用的云计算资源管理和自动化运维服务。用户通过模板描述多个云计算资源的依赖关系、配置等,并自动完成所有资源的创建和配置,以达到自动化部署、运维等目的。编排模板同时也是一种标准化的资源和应用交付方式,并且可以随时编辑修改,使基础设施即代码(Infrastructure as Code)成为可能。 产品详情:https://www.aliyun.com/product/ros/
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