About gazebo-Cosimulation problems

i running there commands

cd /home/user/src/GazeboPlugin/export

export SVGA_VGPU10=0

gazebo /home/user/worlds/Ur10BasicWithPlugin.world --verbose

have some problems!

my Ur10BasicWithPlugin.world

<?xml version="1.0"?>
<sdf version="1.4">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <include>
      <uri>model://sun</uri>
    </include>
   <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose frame=''>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>65535</collide_bitmask>
              <ode/>
            </contact>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <physics name='default_physics' default='0' type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <wind/>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <model name='robot'>
      <link name='base_link'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>4</mass>
          <inertia>
            <ixx>0.00610633</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.00610633</iyy>
            <iyz>0</iyz>
            <izz>0.01125</izz>
          </inertia>
        </inertial>
        <collision name='base_link_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/base.stl</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='base_link_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/base.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='world_joint' type='fixed'>
        <child>base_link</child>
        <parent>world</parent>
      </joint>
      <link name='shoulder_link'>
        <pose frame=''>0 0 0.1273 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>7.778</mass>
          <inertia>
            <ixx>0.0314743</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.0314743</iyy>
            <iyz>0</iyz>
            <izz>0.0218756</izz>
          </inertia>
        </inertial>
        <collision name='shoulder_link_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/shoulder.stl</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='shoulder_link_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/shoulder.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>1</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='shoulder_pan_joint' type='revolute'>
        <child>shoulder_link</child>
        <parent>base_link</parent>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-6.28319</lower>
            <upper>6.28319</upper>
            <effort>330</effort>
            <velocity>2.16</velocity>
          </limit>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>0</use_parent_model_frame>
        </axis>
      </joint>
      <link name='upper_arm_link'>
        <pose frame=''>0 0.220941 0.1273 3.14159 1.57079 3.14159</pose>
        <inertial>
          <pose frame=''>0 -0.045 0.306 0 -0 0</pose>
          <mass>12.93</mass>
          <inertia>
            <ixx>0.421754</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.421754</iyy>
            <iyz>0</iyz>
            <izz>0.0363656</izz>
          </inertia>
        </inertial>
        <collision name='upper_arm_link_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/upperarm.stl</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='upper_arm_link_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/upperarm.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>1</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='shoulder_lift_joint' type='revolute'>
        <child>upper_arm_link</child>
        <parent>shoulder_link</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <limit>
            <lower>-6.28319</lower>
            <upper>6.28319</upper>
            <effort>330</effort>
            <velocity>2.16</velocity>
          </limit>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>0</use_parent_model_frame>
        </axis>
      </joint>
      <link name='forearm_link'>
        <pose frame=''>0.612 0.049041 0.1273 3.14159 1.57079 3.14159</pose>
        <inertial>
          <pose frame=''>0 0 0.28615 0 -0 0</pose>
          <mass>3.87</mass>
          <inertia>
            <ixx>0.11107</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.11107</iyy>
            <iyz>0</iyz>
            <izz>0.0108844</izz>
          </inertia>
        </inertial>
        <collision name='forearm_link_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/forearm.stl</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='forearm_link_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/forearm.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>1</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='elbow_joint' type='revolute'>
        <child>forearm_link</child>
        <parent>upper_arm_link</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <limit>
            <lower>-3.14159</lower>
            <upper>3.14159</upper>
            <effort>150</effort>
            <velocity>3.15</velocity>
          </limit>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>0</use_parent_model_frame>
        </axis>
      </joint>
      <link name='wrist_1_link'>
        <pose frame=''>1.1843 0.049041 0.1273 3.14159 -0 3.14159</pose>
        <inertial>
          <pose frame=''>0 0.1149 0 0 -0 0</pose>
          <mass>1.96</mass>
          <inertia>
            <ixx>0.00510825</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.00510825</iyy>
            <iyz>0</iyz>
            <izz>0.0055125</izz>
          </inertia>
        </inertial>
        <collision name='wrist_1_link_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist1.stl</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wrist_1_link_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist1.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>1</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='wrist_1_joint' type='revolute'>
        <child>wrist_1_link</child>
        <parent>forearm_link</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <limit>
            <lower>-6.28319</lower>
            <upper>6.28319</upper>
            <effort>54</effort>
            <velocity>3.2</velocity>
          </limit>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>0</use_parent_model_frame>
        </axis>
      </joint>
      <link name='wrist_2_link'>
        <pose frame=''>1.1843 0.163941 0.1273 3.14159 -0 3.14159</pose>
        <inertial>
          <pose frame=''>0 0 0.1157 0 -0 0</pose>
          <mass>1.96</mass>
          <inertia>
            <ixx>0.00510825</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.00510825</iyy>
            <iyz>0</iyz>
            <izz>0.0055125</izz>
          </inertia>
        </inertial>
        <collision name='wrist_2_link_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist2.stl</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wrist_2_link_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist2.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>1</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='wrist_2_joint' type='revolute'>
        <child>wrist_2_link</child>
        <parent>wrist_1_link</parent>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-6.28319</lower>
            <upper>6.28319</upper>
            <effort>54</effort>
            <velocity>3.2</velocity>
          </limit>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>0</use_parent_model_frame>
        </axis>
      </joint>
      <link name='wrist_3_link'>
        <pose frame=''>1.1843 0.163941 0.0116 3.14159 -0 3.14159</pose>
        <inertial>
          <pose frame=''>0 0.07695 0 1.5708 -0 0</pose>
          <mass>0.202</mass>
          <inertia>
            <ixx>0.000117922</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000117922</iyy>
            <iyz>0</iyz>
            <izz>0.000204525</izz>
          </inertia>
        </inertial>
        <collision name='wrist_3_link_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist3.stl</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <collision name='wrist_3_link_fixed_joint_lump__ee_link_collision_1'>
          <pose frame=''>-0 0.0822 0 0 -0 1.5708</pose>
          <geometry>
            <box>
              <size>0.01 0.01 0.01</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wrist_3_link_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist3.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <velocity_decay/>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>1</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='wrist_3_joint' type='revolute'>
        <child>wrist_3_link</child>
        <parent>wrist_2_link</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <limit>
            <lower>-6.28319</lower>
            <upper>6.28319</upper>
            <effort>54</effort>
            <velocity>3.2</velocity>
          </limit>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>0</use_parent_model_frame>
        </axis>
      </joint>
      <static>0</static>
      <plugin name='ros_control' filename='libgazebo_ros_control.so'>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <pose frame=''>0 0 0.1 0 -0 0</pose>
    </model>
    <state world_name='default'>
      <sim_time>276 385000000</sim_time>
      <real_time>279 318272940</real_time>
      <wall_time>1655637837 737929799</wall_time>
      <iterations>276385</iterations>
      <model name='ground_plane'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='robot'>
        <pose frame=''>0 0 0.1 4.9e-05 -0.000225 -0</pose>
        <scale>1 1 1</scale>
        <link name='base_link'>
          <pose frame=''>0 0 0.1 4.9e-05 -0.000225 -0</pose>
          <velocity>0 -0 0 0 -0 0</velocity>
          <acceleration>0 -0 0 0 -0 0</acceleration>
          <wrench>0 -0 0 0 -0 0</wrench>
        </link>
        <link name='forearm_link'>
          <pose frame=''>0.611968 0.048722 0.221459 -3.12712 1.56111 -3.12763</pose>
          <velocity>-0.000156 -0.000125 -0.017466 1.5e-05 0.029121 -0.000204</velocity>
          <acceleration>-0 0 -0 -5e-06 0 0</acceleration>
          <wrench>-0 0 -1e-06 0 -0 0</wrench>
        </link>
        <link name='shoulder_link'>
          <pose frame=''>-2.9e-05 -7e-06 0.227299 -0.000104 0.00048 -0.000507</pose>
          <velocity>-0 -0 -0 -0 -0 -0.000199</velocity>
          <acceleration>-0 -0 -0 0 -0 0</acceleration>
          <wrench>-0 -0 -0 0 -0 0</wrench>
        </link>
        <link name='upper_arm_link'>
          <pose frame=''>8.3e-05 0.220934 0.227261 -3.12547 1.56128 -3.12597</pose>
          <velocity>4.4e-05 -0 -0 1.4e-05 0.02854 -0.000204</velocity>
          <acceleration>-0 -0 -0 -6e-06 0 0</acceleration>
          <wrench>-0 -0 -3e-06 0 -0 0</wrench>
        </link>
        <link name='wrist_1_link'>
          <pose frame=''>1.18424 0.048431 0.215911 -3.14145 -0.010088 3.14108</pose>
          <velocity>-0.000318 -0.000241 -0.034131 1.5e-05 0.030466 -0.000204</velocity>
          <acceleration>-0 0 -1e-06 0 1e-06 0</acceleration>
          <wrench>-0 0 -1e-06 0 -0 0</wrench>
        </link>
        <link name='wrist_2_link'>
          <pose frame=''>1.1843 0.16333 0.215893 -3.14144 -0.010089 3.14109</pose>
          <velocity>-0.000295 -0.000241 -0.034131 1.6e-05 0.030466 -0.000172</velocity>
          <acceleration>1e-06 -0 -1e-06 0 -1e-06 0</acceleration>
          <wrench>1e-06 -0 -1e-06 0 -0 0</wrench>
        </link>
        <link name='wrist_3_link'>
          <pose frame=''>1.18313 0.163313 0.100192 -3.14146 -0.010125 3.14109</pose>
          <velocity>-0.00382 -0.000239 -0.034095 1.6e-05 0.030523 -0.000172</velocity>
          <acceleration>1e-06 -0 2.3e-05 -6e-06 1e-06 -6e-06</acceleration>
          <wrench>0 -0 5e-06 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose frame=''>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>5 -5 2 0 0.275643 2.35619</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
    <plugin name="GazeboPlugin" filename="lib/libGazeboCoSimPlugin.so"><portNumber>14581</portNumber></plugin>
  </world>
</sdf>

my .so file

i have some question

how to build my Ur10BasicWithPlugin.world

how to solve the problem of terminal display

Answer 1

[Gaurav Bhosale]

Hi Bo,

I checked your Ur10BasicWithPlugin.world file.

Your world file contains dependecy on ROS plugin.

<plugin name='ros_control' filename='libgazebo_ros_control.so'>

<robotNamespace>/</robotNamespace>

</plugin>

Also, the message from Ubuntu terminal suggest that you need to initialize ROS.

So, I think, you might be missing ROS workflow.

Thanks.

Answer 2

[Gaurav Bhosale]

Hi bo,

From the world file, I can see, username is "zhangbo"

So, in that case, the correct command should be,

cd /home/zhangbo/src/GazeboPlugin/export

export SVGA_VGPU10=0

gazebo /home/zhangbo/worlds/Ur10BasicWithPlugin.world --verbose

Also, you can export plugin path as follow,

export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/home/zhangbo/src/GazeboPlugin/export

Thanks

[bo zhang]

Hello!

Thank you very much for your reply!

As you suggested, I started from scratch.first,load ur arm and save as a .world file<newtest.world>.

source catkin_ws/devel/setup.bash
roslaunch ur_gazebo ur10.launch

Second.In the .world file source code add the following lines

<plugin name="GazeboPlugin" filename="lib/libGazeboCoSimPlugin.so">
    <portNumber>14581</portNumber>
</plugin>

Third.execute the following code.

cd /home/zhangbo/src/GazeboPlugin/export
export SVGA_VGPU10=0
gazebo /home/zhangbo/worlds/newtest.world --verbose
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/home/zhangbo/src/GazeboPlugin/export

But,it will be an error.

[FATAL] [1656398991.410763955]:You must call ros::init() before creating the first NodeHandle
[ERROR] [1656398991.412984740]:[registerPublisher] Failed to contact master at [:0]. Retrying...

What should I do?

Looking forward to your reply!

Thanks!

[PUCHEN ZHU]

It's the same, how to solve it? Please let me know if you figure it out. Thank you.

[Roberto]

This error appeared to me too, I solved it changing the <sdf version="1.4"> from the world file to "1.6".