ROS2 Humble中加载SDF至Gazebo时出现RcutilsLogger调用错误

问题描述 #

通过Python包launch_py内的launch/car_launch2.launch.py启动文件，加载ROS2 C++包models_pkg中路径models/rcCar_assembly/models.sdf下的SDF文件时，Gazebo加载出现RcutilsLogger错误；单独启动Gazebo也存在异常。

环境信息 #

• Gazebo版本：11.10.2
• ROS2发行版：Humble

报错详情 #

启动模型时的报错 #

执行命令 ros2 launch launch_py car_launch2.launch.py 后输出：

hp@hp-HP-Pavilion-Gaming-Laptop-15-dk2xxx:~/rosws/ros2/bfmc_ws$ ros2 launch launch_py car_launch2.launch.py
[INFO] [launch]: All log files can be found below /home/hp/.ros/log/2022-09-25-10-53-59-112288-hp-HP-Pavilion-Gaming-Laptop-15-dk2xxx-20694
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : rcCar_assembly/model.sdf
[INFO] [spawn_entity.py-1]: process started with pid [20695]
[spawn_entity.py-1] [INFO] [1664083439.508709594] [spawn_entity]: Spawn Entity started
[spawn_entity.py-1] [INFO] [1664083439.509012197] [spawn_entity]: Loading entity XML from file /home/hp/rosws/ros2/bfmc_ws/install/models_pkg/share/models_pkg/rcCar_assembly/model.sdf
[spawn_entity.py-1] Traceback (most recent call last):
[spawn_entity.py-1]   File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 370, in <module>
[spawn_entity.py-1]     main()
[spawn_entity.py-1]   File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 365, in main
[spawn_entity.py-1]     exit_code = spawn_entity_node.run()
[spawn_entity.py-1]   File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 143, in run
[spawn_entity.py-1]     self.get_logger().error('Error: specified file %s does not exist', self.args.file)
[spawn_entity.py-1] TypeError: RcutilsLogger.error() takes 2 positional arguments but 3 were given
[ERROR] [spawn_entity.py-1]: process has died [pid 20695, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -entity automobile -file /home/hp/rosws/ros2/bfmc_ws/install/models_pkg/share/models_pkg/rcCar_assembly/model.sdf -x 0.82 -y -14.91 -z 0.032939 -Y 1.5707 --ros-args'].
hp@hp-HP-Pavilion-Gaming-Laptop-15-dk2xxx:~/rosws/ros2/bfmc_ws$ 

单独启动Gazebo的报错 #

执行命令 ros2 launch gazebo_ros gazebo.launch.py 后输出：

~/rosws/ros2/bfmc_ws$ ros2 launch gazebo_ros gazebo.launch.py
[INFO] [launch]: All log files can be found below /home/hp/.ros/log/2022-09-25-11-06-53-410707-hp-HP-Pavilion-Gaming-Laptop-15-dk2xxx-21804
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [21805]
[INFO] [gzclient-2]: process started with pid [21807]
[ERROR] [gzserver-1]: process has died [pid 21805, exit code 255, cmd 'gzserver -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[gzclient-2] ../src/intel/isl/isl.c:2220: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.

启动文件代码 #

car_launch2.launch.py 内容：

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node

def generate_launch_description():

  use_sim_time = LaunchConfiguration('use_sim_time', default='false')
  urdf_file_name = 'rcCar_assembly/model.sdf'
  args_ = " -model automobile -sdf -x 0.82 -y -14.91 -z 0.032939 -Y 1.570796"

  print("urdf_file_name : {}".format(urdf_file_name))

  urdf = os.path.join(
      get_package_share_directory('models_pkg'),
      urdf_file_name)

  return LaunchDescription([

        DeclareLaunchArgument(
            'use_sim_time',
            default_value='false',
            description='Use simulation (Gazebo) clock if true'),
        Node(
            package="gazebo_ros",
            executable  = "spawn_entity.py",
            output='screen',
            arguments=["-entity", "automobile",
                       "-file", urdf,
                       "-x","0.82",
                       "-y","-14.91",
                       "-z","0.032939",
                       "-Y","1.5707"])
  ])

解决方案 #

1. 修复RcutilsLogger语法错误 #

报错提示 RcutilsLogger.error() takes 2 positional arguments but 3 were given，原因是ROS2 Humble中get_logger().error()不支持多参数格式化，需提前完成字符串格式化：

• 打开 /opt/ros/humble/lib/gazebo_ros/spawn_entity.py 文件
• 定位到第143行：

  self.get_logger().error('Error: specified file %s does not exist', self.args.file)
  

• 修改为以下两种格式之一：

  # f-string格式化
  self.get_logger().error(f'Error: specified file {self.args.file} does not exist')
  

  或

  # str.format()格式化
  self.get_logger().error('Error: specified file {} does not exist'.format(self.args.file))
  

2. 解决Gazebo启动失败问题 #

针对gzserver退出码255

• 清理Gazebo缓存：删除 ~/.gazebo/cache 目录
• 处理Intel显卡驱动警告：isl.c 的提示属于显卡驱动特性限制，可尝试更新Intel显卡驱动，或在启动前添加环境变量启用软件渲染：

  export LIBGL_ALWAYS_SOFTWARE=1
  

• 检查环境变量配置：确保正确source ROS2和工作空间的setup文件：

  source /opt/ros/humble/setup.bash
  source ~/rosws/ros2/bfmc_ws/install/setup.bash
  

额外检查模型路径

启动日志显示加载路径为 /home/hp/rosws/ros2/bfmc_ws/install/models_pkg/share/models_pkg/rcCar_assembly/model.sdf，需确认该文件真实存在，同时注意用户描述的路径是models/rcCar_assembly/models.sdf，检查是否存在文件名拼写差异（model.sdf vs models.sdf）。

内容的提问来源于stack exchange，提问作者Mohanaharish Vasudevan