Ubuntu 用ROS noetic打开凉亭有困难

我正在尝试运行命令“roslaunch ivr_lab spawn.launch”，当我这样做时，它就不起作用了，如下面所示。这个过程只是冻结了。我正在使用Ubuntu20，ROS-noetic，我已经完成了必需的“source/opt/ROS/noetic/setup.bash”、“catkin\u make”、“source-devel/setup.bash”命令。 我已经尝试卸载和重新安装Ubuntu和ROS，但似乎没有任何东西可以解决这个问题。正如您所看到的，我收到了一条gazebo-gui-3进程已死亡的消息。任何指点都将不胜感激

... logging to /home/araff/.ros/log/cf38c406-0fc7-11eb-a196-80ce6246ff47/roslaunch-LAPTOP-*.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://LAPTOP-*:58434/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /robot/joint1_position_controller/joint: base_to_link0
 * /robot/joint1_position_controller/pid/d: 10.0
 * /robot/joint1_position_controller/pid/i: 50.0
 * /robot/joint1_position_controller/pid/p: 100.0
 * /robot/joint1_position_controller/type: position_controll...
 * /robot/joint2_position_controller/joint: link0_to_link1
 * /robot/joint2_position_controller/pid/d: 10.0
 * /robot/joint2_position_controller/pid/i: 50.0
 * /robot/joint2_position_controller/pid/p: 100.0
 * /robot/joint2_position_controller/type: position_controll...
 * /robot/joint3_position_controller/joint: link1_to_link2
 * /robot/joint3_position_controller/pid/d: 10.0
 * /robot/joint3_position_controller/pid/i: 50.0
 * /robot/joint3_position_controller/pid/p: 100.0
 * /robot/joint3_position_controller/type: position_controll...
 * /robot/joint_state_controller/publish_rate: 50
 * /robot/joint_state_controller/type: joint_state_contr...
 * /robot/robot_description: <?xml version="1....
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.8
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    my_camera_spawn (gazebo_ros/spawn_model)
  /robot/
    controller_spawner (controller_manager/spawner)
    my_robot_spawn (gazebo_ros/spawn_model)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [5310]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to cf38c406-0fc7-11eb-a196-80ce6246ff47
process[rosout-1]: started with pid [5320]
started core service [/rosout]
process[gazebo-2]: started with pid [5326]
process[gazebo_gui-3]: started with pid [5329]
process[robot/my_robot_spawn-4]: started with pid [5332]
process[robot/controller_spawner-5]: started with pid [5335]
process[robot/robot_state_publisher-6]: started with pid [5338]
process[my_camera_spawn-7]: started with pid [5340]
[INFO] [1602863648.564227, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1602863648.565088, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1602863648.576085, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1602863650.146582, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1602863650.155074, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1602863650.160515400]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1602863650.160991700]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1602863650.165816100]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1602863650.168979200]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Aborted (core dumped)
[gazebo_gui-3] process has died [pid 5329, exit code 134, cmd /opt/ros/noetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/araff/.ros/log/cf38c406-0fc7-11eb-a196-80ce6246ff47/gazebo_gui-3.log].
log file: /home/araff/.ros/log/cf38c406-0fc7-11eb-a196-80ce6246ff47/gazebo_gui-3*.log
[INFO] [1602863650.466643, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1602863650.473175300]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1602863650.703655, 0.098000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1602863650.771089, 0.098000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1602863650.788049800, 0.098000000]: Physics dynamic reconfigure ready.
[ INFO] [1602863650.810948800, 0.098000000]: Loading gazebo_ros_control plugin
[ INFO] [1602863650.811515300, 0.098000000]: Starting gazebo_ros_control plugin in namespace: /robot/
[ INFO] [1602863650.813645900, 0.098000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot/robot_description] on the ROS param server.
[ERROR] [1602863650.934345000, 0.098000000]: No p gain specified for pid.  Namespace: /robot/gazebo_ros_control/pid_gains/base_to_link0
[ERROR] [1602863650.938428200, 0.098000000]: No p gain specified for pid.  Namespace: /robot/gazebo_ros_control/pid_gains/link0_to_link1
[ERROR] [1602863650.942068500, 0.098000000]: No p gain specified for pid.  Namespace: /robot/gazebo_ros_control/pid_gains/link1_to_link2
[ INFO] [1602863650.952659500, 0.098000000]: Loaded gazebo_ros_control.
[INFO] [1602863650.988236, 0.128000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1602863650.994746, 0.132000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1602863651.001454, 0.137000]: Loading controller: joint_state_controller
[INFO] [1602863651.020656, 0.155000]: Loading controller: joint1_position_controller
[INFO] [1602863651.041364, 0.173000]: Loading controller: joint2_position_controller
[INFO] [1602863651.056653, 0.187000]: Loading controller: joint3_position_controller
[INFO] [1602863651.072166, 0.199000]: Controller Spawner: Loaded controllers: joint_state_controller, joint1_position_controller, joint2_position_controller, joint3_position_controller
[INFO] [1602863651.083788, 0.209000]: Started controllers: joint_state_controller, joint1_position_controller, joint2_position_controller, joint3_position_controller
[INFO] [1602863651.261310, 0.265000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1602863651.361997700, 0.265000000]: Loading gazebo_ros_control plugin
[ INFO] [1602863651.362544400, 0.265000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1602863651.364810400, 0.265000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1602863651.474633500, 0.265000000]: Loaded gazebo_ros_control.
[robot/my_robot_spawn-4] process has finished cleanly
log file: /home/araff/.ros/log/cf38c406-0fc7-11eb-a196-80ce6246ff47/robot-my_robot_spawn-4*.log
[my_camera_spawn-7] process has finished cleanly
log file: /home/araff/.ros/log/cf38c406-0fc7-11eb-a196-80ce6246ff47/my_camera_spawn-7*.log

。。。登录到/home/araff/.ros/log/cf38c406-0fc7-11eb-a196-80ce6246ff47/roslaunch膝上型电脑-*.log
正在检查日志目录中的磁盘使用情况。这可能需要一段时间。
按Ctrl-C键中断
已完成检查日志文件磁盘使用情况。用法是