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:
Warning [ModelDatabase.cc:334] Getting models from[http://gazebosim.org/models/]. This may take a few seconds.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Error [gazebo.cc:220] Waited 11 seconds for namespaces. Giving up.
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
在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.
评论列表(15条)
胡老师您好,我上过您在深蓝学院的课程,刚装好ROS,然后装好了gazebo,用sudo apt-get install ros-indigo-simulators安装的gazebo,但是我打开已经包含机器人模型文件的gazebo环境,结果并没有机器人显示,我又试了一下UR5的包,打开gazebo一样没有机器人模型,请问这是为什么呢?谢谢
是不是没下载gazebo的离线包,深蓝学院机器人设计一课有详细将机器人仿真的过程
古老师,最近我创建了一个机械臂urdf文件,可在gazebo中打开,但是打开之后,总是过一会就自己散架了,我修改了effort限制,有好转能够立来,但是一旦给出转动指令之后,过一会就又碎了….这是哪里的问题,实在想不清楚,求教啊啊啊啊
首先确定关节的类型没有问题,然后检查仿真用的controller是不是已经启动并且连接成功
前辈,你好!感谢你上面提供的解决方法,完美解决问题。
同时,我在运行 roslaunch gazebo_ros empty_world.launch 时,提示如下错误:
core service [/rosout] found
ERROR: cannot launch node of type [gazebo_ros/gzserver]: can’t locate node [gzserver] in package [gazebo_ros]
ERROR: cannot launch node of type [gazebo_ros/gzclient]: can’t locate node [gzclient] in package [gazebo_ros]
No processes to monitor
应当如何处理,谢谢!
(备注:Ubuntu 14.04 & ros indigo)
gazebo_ros功能包装了么?
有装,古老师,装的ros-indigo-desktop-full,然后在/opt/ros/indigo/lib/gazebo_ros 目录下可以找到gzclient 与 gzserver 文件,然后有source /opt/ros/indigo/setup.bash 。
现在很困惑找不到问题的原因所在,求教古老师。
你可以试一下这个网页里边的几种解决办法:
https://answers.ros.org/question/245030/error-while-spawning-my-robot-in-gazebo-using-gazebo_ros/
十分感谢古老师的指导,参考链接,已解决问题,深感检索能力还有待提高,现共享如下:
solution:
sudo ln -s /opt/ros/indigo/lib/gazebo_ros/gzserver /opt/ros/indigo/share/gazebo_ros/gzserver
sudo ln -s /opt/ros/indigo/lib/gazebo_ros/gzclient /opt/ros/indigo/share/gazebo_ros/gzclient
技术找谷歌,切勿用百度
前辈,你好!感谢你上面提供的解决方法,完美解决问题。
你好,请问gazebo中模型占用内存比较大有优化策略吗?
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。
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?
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。