gazebo打开仿真环境报错gzserver: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreRenderSystem

2024-04-12 21:04:21

Q1：gazebo仿真报错

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.
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details

A: gazebo版本太低

1. 查看gazebo版本

gazebo --version

显示版本为：

2. 升级gazebo

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/gazebo-stable.list'
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
sudo apt update
sudo apt upgrade

更新完成

Q2：gazebo仿真报错

[ERROR] [1633933002.576193419]: GazeboRosControlPlugin missing while using DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead.
If you do not want to fix this issue in an old package just set to true.

A2: 添加表示文件

     <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control"><robotNamespace></robotNamespace><legacyModeNS>true</legacyModeNS> <!--添加这个--><robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType></plugin>

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