Ubuntu16.04系統安裝ROS（kinetic版本）后，使用ROS包含的gazebo時報錯，gzserver: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain /src/OgreRenderSystem.cpp:546: virtual void Ogre::RenderSystem::setDepthBufferFor (Ogre::RenderTarget*): Assertion `bAttached && "A new DepthBuffer for a RenderTarget was created, but after creation" "it says it's incompatible with that RT"' failed.以及 Called publishAsync but publisher thread has not been started, THIS IS NOT RT safe. You should start it yourself。

1. 報錯原因是ROS自帶的gazebo版本太低

通過下面指令可以看到gazebo版本是7.0.0

gazebo --version

2. 升級gazebo?

2.1?添加下載源

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

2.2??添加軟件包密鑰

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

2.3??更新系統下載源

sudo apt update

2.4??更新gazebo7

sudo apt-get install gazebo7

2.5??測試gazebo版本

gazebo --version

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2.6 gazebo升級后，gazebo可正常運行，而且可以加載模型，如下圖

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附錄

1. 如果后續重新編譯工作空間時報錯?/usr/include/gazebo-7/gazebo/msgs/msgs.hh:24:37: fatal error: ignition/math/ Inertial.hh: No such file or directory。

安裝libignition-math2-dev依賴項即可解決

sudo apt-get install libignition-math2-dev

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總結

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