[gazebo-1] process has died [pid 39943, exit code 127

[tc-uestc]

Describe the issue
SUMMARY

PARAMETERS

• /rosdistro: noetic
• /rosversion: 1.16.0

NODES

auto-starting new master
process[master]: started with pid [39906]
ROS_MASTER_URI=http://localhost:11311/

setting /run_id to 63e20bec-ce98-11ef-b308-0d93ecce669a
process[rosout-1]: started with pid [39919]
started core service [/rosout]
Gazebo launched!
... logging to /home/tc/.ros/log/63e20bec-ce98-11ef-b308-0d93ecce669a/roslaunch-tc-Lenovo-Legion-R9000K2021H-39918.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.

started roslaunch server http://localhost:34739/

SUMMARY

PARAMETERS

• /joint_state_publisher/publish_frequency: 30.0
• /robot_description: <?xml version="1....
• /robot_state_publisher/publish_frequency: 30.0
• /robot_state_publisher/tf_prefix: r1
• /rosdistro: noetic
• /rosversion: 1.16.0
• /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
urdf_spawner (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311/

process[gazebo-1]: started with pid [39943]
process[gazebo_gui-2]: started with pid [39946]
process[urdf_spawner-3]: started with pid [39951]
process[robot_state_publisher-4]: started with pid [39954]
process[joint_state_publisher-5]: started with pid [39955]
process[rviz-6]: started with pid [39956]
[INFO] [1736433939.127456, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1736433939.131878, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1736433939.163760413]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1736433939.164614077]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1736433939.213213108]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1736433939.214223426]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1736433940.003112706, 0.201000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1736433940.037321, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1736433940.941273598, 0.357000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1736433940.943266367, 0.357000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1736433940.949566081, 0.357000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1736433940.951272293, 0.357000000]: Camera Plugin (ns = r1) <tf_prefix_>, set to ""
[ INFO] [1736433941.080261419, 0.357000000]: Laser Plugin: The 'robotNamespace' param was empty
[ INFO] [1736433941.080335939, 0.357000000]: Starting Laser Plugin (ns = r1)
[ INFO] [1736433941.080919530, 0.357000000]: Laser Plugin (ns = r1) <tf_prefix_>, set to ""
gzserver: symbol lookup error: /home/tc/DRL-robot-navigation/catkin_ws/devel_isolated/velodyne_gazebo_plugins/lib/libgazebo_ros_velodyne_laser.so: undefined symbol: _ZN5boost6system16generic_categoryEv
[INFO] [1736433942.197452, 0.357000]: Spawn status: SpawnModel: Successfully spawned entity
[gazebo-1] process has died [pid 39943, exit code 127, cmd /opt/ros/noetic/lib/gazebo_ros/gzserver -e ode TD3.world __name:=gazebo __log:=/home/tc/.ros/log/63e20bec-ce98-11ef-b308-0d93ecce669a/gazebo-1.log].
log file: /home/tc/.ros/log/63e20bec-ce98-11ef-b308-0d93ecce669a/gazebo-1.log*
[gazebo-1] restarting process
process[gazebo-1]: started with pid [40242]
[ INFO] [1736433942.732143870]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1736433942.732858481]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[urdf_spawner-3] process has finished cleanly
log file: /home/tc/.ros/log/63e20bec-ce98-11ef-b308-0d93ecce669a/urdf_spawner-3*.log
[ INFO] [1736433943.398760637]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1736433943.414508560, 0.208000000]: Physics dynamic reconfigure ready.
[ERROR] [1736433943.735443103, 0.522000000]: Updating ModelState: model [r1] does not exist
Traceback (most recent call last):
File "train_velodyne_td3.py", line 346, in
next_state, reward, done, target = env.step(a_in)
File "/home/tc/DRL-robot-navigation/TD3/velodyne_env.py", line 188, in step
self.odom_x = self.last_odom.pose.pose.position.x
AttributeError: 'NoneType' object has no attribute 'pose'

Provide information about your setup:

• OS:ubuntu20
• ROS version:noetic
• Repository branch:

Please help me. i have spent lots of days finding ways to solve the problem. But i failed. :(

[reiniscimurs]

Hi,

What branch are you using?
Did you make any changes? You are missing the robot model in your implementation. This would suggest either some changes or some mistake during installation.