Problem with Indigo and Gazebo

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       最近在打开Gazebo的时候,总是出现如下的错误提示,而且显示区无法显示任何模型:

  1. Warning [ModelDatabase.cc:334] Getting models from[http://gazebosim.org/models/]. This may take a few seconds.
  2. Warning [gazebo.cc:215] Waited 1seconds for namespaces.
  3. Warning [gazebo.cc:215] Waited 1seconds for namespaces.
  4. Warning [gazebo.cc:215] Waited 1seconds for namespaces.
  5. Warning [gazebo.cc:215] Waited 1seconds for namespaces.
  6. Warning [gazebo.cc:215] Waited 1seconds for namespaces.
  7. Warning [gazebo.cc:215] Waited 1seconds for namespaces.
  8. Warning [gazebo.cc:215] Waited 1seconds for namespaces.
  9. Warning [gazebo.cc:215] Waited 1seconds for namespaces.
  10. Warning [gazebo.cc:215] Waited 1seconds for namespaces.
  11. Warning [gazebo.cc:215] Waited 1seconds for namespaces.
  12. Error [gazebo.cc:220] Waited 11 seconds for namespaces. Giving up.
  13. Error [Node.cc:90] No namespace found
  14. Error [Node.cc:90] No namespace found
  15. Error [Node.cc:90] No namespace found
  16. Error [Node.cc:90] No namespace found
  17. Error [Node.cc:90] No namespace found
  18. Error [Node.cc:90] No namespace found
  19. Error [Node.cc:90] No namespace found
  20. Error [Node.cc:90] No namespace found
  21. Error [Node.cc:90] No namespace found
  22. Error [Node.cc:90] No namespace found
  23. Error [Node.cc:90] No namespace found

       ROS Answers上找到了解决办法(http://answers.ros.org/question/199401/problem-with-indigo-and-gazebo-22/):

 

Finally I got it! Gazebo try to collect models from http://gazebosim.org/models but there 's something wrong... the folder ~/.gazebo/models does not exist and Gazebo simulator can not start. Here's a bit more simple solution: run $ wget -r -R "index\.html*" http://old.gazebosim.org/models/ to get all models from gazebosim and copy them into ~/.gazebo/models folder (after you mkdir modelsinside ~/.gazebo) and everything will be ok.

This solution worked for me. But I had to replace the link http://old.gazebosim.org/models/  with http://models.gazebosim.org/ . And a better and faster way is to download the models files from bitbucket.


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4条评论
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    defy 回复

    你好,请问gazebo中模型占用内存比较大有优化策略吗?

    • 古月

      古月 回复

      @defy 这个需要看你对模型精度的要求了,如果精度要求高,模型纹理丰富,占用资源自然会多,如果可以接收精度降低,可以通过简化模型的方式减低资源消耗,我们目前用的就是这种方法。

      • Gravatar 头像

        defy 回复

        @古月 我现在使用的模型是gazebo自带的那种box等,一个车身box+两个轮子+两个关节,realtimeupdateraet 500,加载这种模型200个大概会消耗1g内存,i5 4核cpu会占用大概35%。我可能需要模拟上千辆车。所以还有没有什么可以优化的策略或方向吗?

        • 古月

          古月 回复

          @defy 不好意思,这种数量级的仿真我没接触过,可能不无法提供更多建议了。

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