程序运行部分信息

setting /run_id to 9dbf82cc-8d6a-11eb-8920-b3b345482eeb
process[rosout-1]: started with pid [6081]
started core service [/rosout]
process[gazebo-2]: started with pid [6087]
process[gazebo_gui-3]: started with pid [6093]
process[joint_state_publisher-4]: started with pid [6096]
process[robot_state_publisher-5]: started with pid [6099]
process[urdf_spawner-6]: started with pid [6100]
[ WARN] [1616677462.878545192]: link 'base_link' material 'yellow' undefined.
[ WARN] [1616677462.888616379]: link 'base_link' material 'yellow' undefined.
[INFO] [1616677463.596260, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1616677463.610469, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1616677463.826121844]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1616677463.827569963]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1616677464.144836725]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1616677464.146282568]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1616677465.475990713]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1616677465.507631191]: Physics dynamic reconfigure ready.
[INFO] [1616677465.742224, 0.190000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1616677465.873305, 0.270000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1616677465.902841211, 0.270000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1616677465.903322818, 0.270000000]: DiffDrive(ns = //): = Debug
[ INFO] [1616677465.904815267, 0.270000000]: DiffDrive(ns = //): = 
[DEBUG] [1616677465.905151116, 0.270000000]: DiffDrive(ns = //): = cmd_vel
[DEBUG] [1616677465.905264964, 0.270000000]: DiffDrive(ns = //): = odom
[DEBUG] [1616677465.905432740, 0.270000000]: DiffDrive(ns = //): = odom
[DEBUG] [1616677465.905540417, 0.270000000]: DiffDrive(ns = //): = base_footprint
[DEBUG] [1616677465.905830492, 0.270000000]: DiffDrive(ns = //): = true
[ WARN] [1616677465.905939727, 0.270000000]: DiffDrive(ns = //): missing default is true
[DEBUG] [1616677465.906038206, 0.270000000]: DiffDrive(ns = //): = true
[DEBUG] [1616677465.906374614, 0.270000000]: DiffDrive(ns = //): = 0.26000000000000001
[DEBUG] [1616677465.906486845, 0.270000000]: DiffDrive(ns = //): = 0.066000000000000003
[DEBUG] [1616677465.906558562, 0.270000000]: DiffDrive(ns = //): = 1.8
[DEBUG] [1616677465.906776430, 0.270000000]: DiffDrive(ns = //): = 30
[DEBUG] [1616677465.906974388, 0.270000000]: DiffDrive(ns = //): = 100
[ WARN] [1616677465.907229664, 0.270000000]: DiffDrive(ns = //): missing default is 1
[DEBUG] [1616677465.907454057, 0.270000000]: DiffDrive(ns = //): = base_to_wheel_left_joint
[DEBUG] [1616677465.907698611, 0.270000000]: DiffDrive(ns = //): = base_to_wheel_right_joint

主要问题:小车和大部分环境物体模型显示失败,只有废料箱正常显示