时间戳

首页 > 解决方案 > Gazebo 无法启动：Ubuntu 18.04 ROS 旋律

ubuntu-18.04 - Gazebo 无法启动：Ubuntu 18.04 ROS 旋律

问题描述

我无法在 ubuntu 终端上启动凉亭。我已经确定我使用的是 ubuntu 18.04 和 ROS melodic 并安装了gazebo9。每当我使用“gazebo --verbose”命令时，它都会引发一些错误（如附图所示）。我希望你能帮助解决这个问题或对运行凉亭模拟窗口有任何建议。我觉得我可能忽略了一些我看不到的东西。我使用gazebo --verbose并收到以下错误消息：

Gazebo multi-robot simulator, version 9.19.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.23.117.58
[Msg] Publicized address: 172.23.117.58
[Err] [RenderEngine.cc:742] Can't open display: :0
[Wrn] [RenderEngine.cc:88] Unable to create X window. Rendering will be disabled
[Wrn] [RenderEngine.cc:291] Cannot initialize render engine since render path type is NONE. Ignore this warning ifrendering has been turned off on purpose.
[Err] [RenderEngine.cc:742] Can't open display: :0
[Wrn] [RenderEngine.cc:88] Unable to create X window. Rendering will be disabled
[Wrn] [RenderEngine.cc:291] Cannot initialize render engine since render path type is NONE. Ignore this warning ifrendering has been turned off on purpose.
[Wrn] [GuiIface.cc:120] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[Wrn] [GuiIface.cc:120] QXcbConnection: Could not connect to display :0
[Err] [GuiIface.cc:124] Could not connect to any X display.
[Msg] Loading world file [/usr/share/gazebo-9/worlds/empty.world]

标签： ubuntu-18.04rosgazebo-simu

解决方案

您似乎正在尝试通过 ssh 会话或 WSL 运行凉亭。如果是这种情况，您需要确保您正在运行 X 服务器，例如xming。如果您正在通过 ssh 连接，您还需要通过连接来确保使用 X-forwarding ssh -XC user@yourHost。最后，您需要确保设置了正确的环境变量，以便 Gazebo 知道要使用哪个显示器。这需要在所有正在使用的机器上进行设置（如果使用 ssh 或仅使用其他机器）。可以通过设置export DISPLAY=localhost:0.0。

推荐阅读