[ROS2] gzclient px != failed

ubuntu 22.04에서 ros2 humble turtlebot3를 gazebo로 실행 시 오류

 

$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py 
[INFO] [launch]: All log files can be found below /home/ruben/.ros/log/2024-12-31-11-18-27-582160-ruben.choi-987943
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_burger.urdf
urdf_file_name : turtlebot3_burger.urdf
[INFO] [gzserver-1]: process started with pid [987969]
[INFO] [gzclient-2]: process started with pid [987971]
[INFO] [robot_state_publisher-3]: process started with pid [987973]
[INFO] [spawn_entity.py-4]: process started with pid [987975]
[robot_state_publisher-3] [INFO] [1735611508.862631174] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-3] [INFO] [1735611508.862729839] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1735611508.862738757] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-3] [INFO] [1735611508.862743262] [robot_state_publisher]: got segment caster_back_link
[robot_state_publisher-3] [INFO] [1735611508.862747547] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-3] [INFO] [1735611508.862751360] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-3] [INFO] [1735611508.862755349] [robot_state_publisher]: got segment wheel_right_link
[spawn_entity.py-4] [INFO] [1735611509.243347877] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1735611509.243669443] [spawn_entity]: Loading entity XML from file /home/ruben/turtlebot3_ws/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
[spawn_entity.py-4] [INFO] [1735611509.244669291] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1735611509.244927160] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1735611510.253584748] [spawn_entity]: Calling service /spawn_entity
[gzserver-1] [INFO] [1735611510.464422329] [turtlebot3_imu]: <initial_orientation_as_reference> is unset, using default value of false to comply with REP 145 (world as orientation reference)
[spawn_entity.py-4] [INFO] [1735611510.540761904] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [burger]
[gzserver-1] [INFO] [1735611510.657810181] [turtlebot3_diff_drive]: Wheel pair 1 separation set to [0.160000m]
[gzserver-1] [INFO] [1735611510.657854328] [turtlebot3_diff_drive]: Wheel pair 1 diameter set to [0.066000m]
[gzserver-1] [INFO] [1735611510.658784525] [turtlebot3_diff_drive]: Subscribed to [/cmd_vel]
[gzserver-1] [INFO] [1735611510.661122248] [turtlebot3_diff_drive]: Advertise odometry on [/odom]
[gzserver-1] [INFO] [1735611510.662998443] [turtlebot3_diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gzserver-1] [INFO] [1735611510.671929324] [turtlebot3_joint_state]: Going to publish joint [wheel_left_joint]
[gzserver-1] [INFO] [1735611510.671960165] [turtlebot3_joint_state]: Going to publish joint [wheel_right_joint]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 987975]
[gzclient-2] gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = gazebo::rendering::Camera; typename boost::detail::sp_member_access<T>::type = gazebo::rendering::Camera*]: Assertion `px != 0' failed.
[ERROR] [gzclient-2]: process has died [pid 987971, exit code -6, cmd 'gzclient'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-3] [INFO] [1735611641.579191458] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 987973]
[INFO] [gzserver-1]: process has finished cleanly [pid 987969]

 

솔루션

$source /usr/share/gazebo/setup.bash

 

 

Reference

https://answers.gazebosim.org/question/7173/