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roslaunch wheeltec_gazebo_control wheeltec_gazebo_control.launch 报错，修改了车型为akm:
from ackermann_msgs.msg import AckermannDriveStamped
ImportError: No module named ackermann_msgs.msg
[pub_mini_akm_cmd-4] process has died [pid 14962, exit code 1, cmd /home/fish/workspace/src/wheeltec_robot_gazebo/wheeltec_gazebo_function/script/velocity_bridge/mini_akm/real_cmd_vel_mini_akm.py __name:=pub_mini_akm_cmd __log:=/home/fish/.ros/log/c429c656-05af-11ee-b798-50e0855ef6f0/pub_mini_akm_cmd-4.log].
log file: /home/fish/.ros/log/c429c656-05af-11ee-b798-50e0855ef6f0/pub_mini_akm_cmd-4*.log
[INFO] [1686196297.961409, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1686196298.019073231]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1686196298.020384779]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1686196298.034618297]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1686196298.035930228]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1686196299.112202163]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ERROR] [1686196299.157704, 136.752000]: Spawn service failed. Exiting.
[ INFO] [1686196299.162922622, 136.757000000]: Physics dynamic reconfigure ready.
[spawn_urdf-9] process has died [pid 14975, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -urdf -model wheeltec -param robot_description -x 0.0 -y 0.0 -z 0.0 __name:=spawn_urdf __log:=/home/fish/.ros/log/c429c656-05af-11ee-b798-50e0855ef6f0/spawn_urdf-9.log].
log file: /home/fish/.ros/log/c429c656-05af-11ee-b798-50e0855ef6f0/spawn_urdf-9*.log
[ INFO] [1686196299.528907837, 136.833000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
另外在rviz当中看不到depth图像，配置文件里没找到libgazebo_ros_wheeltec_omni.so这个文件，请问有大佬可以给我发一份完整的gazebo小车模型吗？
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发表于 2023-6-8 12:07:36
楼主
没找到这个wheeltec_camera.launch文件，image选项里面有depth但是选了之后没图像