gazebo problem

[chan-yuu]

[rviz2-5] [INFO] [1747117997.581670703] [rviz2]: Trying to create a map of size 500 x 500 using 1 swatches
[ros2-3] Set parameter successful
[INFO] [ros2-3]: process has finished cleanly [pid 193999]
[gzclient   -2] gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:734：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*]: hypothesis ‘px != 0’ failed。
[gzclient   -2] Aborted (core dumped)
[ERROR] [gzclient   -2]: process has died [pid 193996, exit code 134, cmd 'gzclient   '].

Hello, how should this gazebo problem be solved. I failed to activate it:
ros2 launch launches click_launch.py
Just start gazebo is normal.

[chan-yuu]

I modified the launch file a little bit.

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

def generate_launch_description():
    navpkg = 'autocar_nav'
    gzpkg = 'autocar_gazebo'
    descpkg = 'autocar_description'
    mappkg = 'autocar_map'

    # 世界文件、URDF 和 RViz 配置文件路径
    world = os.path.join(get_package_share_directory(gzpkg), 'worlds', 'autocar.world')
    urdf = os.path.join(get_package_share_directory(descpkg), 'urdf', 'autocar.xacro')
    rviz = os.path.join(get_package_share_directory(descpkg), 'rviz', 'view.rviz')
    
    # 导航参数文件路径
    navconfig = os.path.join(get_package_share_directory(navpkg), 'config', 'navigation_params.yaml')

    # 仿真时间参数
    use_sim_time = LaunchConfiguration('use_sim_time', default='True')

    return LaunchDescription([
        # 直接启动 Gazebo，加载世界文件和 ROS 插件
        ExecuteProcess(
            cmd=[
                'gazebo',
                '--verbose',
                world,
                '-s', 'libgazebo_ros_init.so',
                '-s', 'libgazebo_ros_factory.so',
                '-s', 'libgazebo_ros_force_system.so'
            ],
            output='screen'
        ),

        # 设置 Gazebo 的 use_sim_time 参数
        ExecuteProcess(
            cmd=['ros2', 'param', 'set', '/gazebo', 'use_sim_time', use_sim_time],
            output='screen'
        ),

        # 声明 use_sim_time 参数
        DeclareLaunchArgument(
            'use_sim_time',
            default_value='false',
            description='Use simulation (Gazebo) clock if true'
        ),

        # 机器人状态发布节点
        Node(
            package='robot_state_publisher',
            executable='robot_state_publisher',
            name='robot_state_publisher',
            output='screen',
            parameters=[{'use_sim_time': use_sim_time}],
            arguments=[urdf]
        ),

        # RViz 可视化节点
        Node(
            package='rviz2',
            executable='rviz2',
            name='rviz2',
            arguments=['-d', rviz],
            output='screen'
        ),

        # 定位节点
        Node(
            package=navpkg,
            name='localisation',
            executable='localisation.py',
            parameters=[navconfig]
        ),

        # BOF 节点
        Node(
            package=mappkg,
            name='bof',
            executable='bof'
        ),

        # 点击规划节点
        Node(
            package=navpkg,
            name='click_planner',
            executable='clickplanner.py',
            parameters=[navconfig]
        ),

        # 路径跟踪节点
        Node(
            package=navpkg,
            name='path_tracker',
            executable='tracker.py',
            parameters=[navconfig]
        )
    ])

def main():
    generate_launch_description()

if __name__ == '__main__':
    main()

But there is one point that the vehicle will not stop when it reaches the terminal. Is there no consideration here?

[winstxnhdw]

But there is one point that the vehicle will not stop when it reaches the terminal.

What do you mean?

[chan-yuu]

That means the vehicle did not stop after reaching the destination.

[winstxnhdw]

Yes, it's not meant to stop. You'll have to write your own tracker to do that. The tracker here is meant to be continuous.