WSLでgazeboを動かしたい
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WSLでgazeboを起動させたいのですが、エラーが発報し起動しません。
WSLでgazeboを起動させたいのですが、エラーが発報し起動しません。
以下のエラーが発報しており、解決方法を教えてください。
発生している問題・エラー
setting /run_id to af6fd49c-00c2-11ec-a837-10653075eea7
process[rosout-1]: started with pid [11136]
started core service [/rosout]
process[gazebo-2]: started with pid [11139]
process[gazebo_gui-3]: started with pid [11146]
process[spawn_urdf-4]: started with pid [11168]
[ INFO] [1629359676.544820500]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1629359676.548595100]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1629359676.603233100]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1629359676.607622300]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
shared memfd open() failed: Function not implemented
ALSA lib confmisc.c:767:(parse_card) cannot find card '0'
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1246:(snd_func_refer) error evaluating name
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5007:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2495:(snd_pcm_open_noupdate) Unknown PCM default
AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
[ INFO] [1629359677.912084900]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1629359678.448177400, 0.001000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1629359678.449664400, 0.001000000]: Starting Laser Plugin (ns = /)
[ INFO] [1629359678.463828100, 0.001000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1629359678.473763200, 0.001000000]: Physics dynamic reconfigure ready.
[ INFO] [1629359678.551048200, 0.001000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1629359678.552410100, 0.001000000]: DiffDrive(ns = //): <rosDebugLevel> = na
[ INFO] [1629359678.554992700, 0.001000000]: DiffDrive(ns = //): <tf_prefix> =
[ INFO] [1629359678.559737600, 0.001000000]: DiffDrive(ns = //): Advertise joint_states
[ INFO] [1629359678.562652500, 0.001000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1629359678.575782200, 0.001000000]: DiffDrive(ns = //): Subscribe to cmd_vel
[ INFO] [1629359678.578237200, 0.001000000]: DiffDrive(ns = //): Advertise odom on odom
[spawn_urdf-4] process has finished cleanly
自分で試したこと
以下のページを参考に、しましたが改善されませんでした。。。
・git clone https://bitbucket.org/osrf/gazebo_models/src/master/ #モデルのDL
・mv gazebo_models ~/.gazebo/models #上記モデルを移動
・bashrcに以下を記入
export GAZEBO_PLUGIN_PATH=~/catkin_ws/src/turtlebot3_gazebo_plugin/build:${GAZEBO_PLUGIN_PATH}
export GAZEBO_MODEL_PATH=~/catkin_ws/src/turtlebot3_gazebo_plugin/models:~/catkin_ws/.gazebo/models:${GAZEBO_MODEL_PATH}
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