Issue launch empty world OR any other world

[KaeYan]

This is the steps i did after fresh install of Ubuntu 22.04

I followed the instructions to install ROS 2 humble, the talker and listener is able to work.

Next, this is the command i run to install turtlebot3_simulations
$ sudo apt-get install ros-humble-gazebo-*
$ sudo apt install ros-humble-cartographer
$ sudo apt install ros-humble-cartographer-ros
$ sudo apt install ros-humble-navigation2
$ sudo apt install ros-humble-nav2-bringup
$ sudo apt install ros-humble-dynamixel-sdk
$ sudo apt install ros-humble-turtlebot3-msgs
$ sudo apt install ros-humble-turtlebot3
$ mkdir -p ~/turtlebot3_ws/src/
$ git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

Then this is the command to build. It did success building all 3 packages.
$ source /opt/ros/humble/setup.bash
$ cd ~/turtlebot3_ws && colcon build --symlink-install

Then this is the command to run the simulations.
$ export TURTLEBOT3_MODEL=waffle
$ ros2 launch turtlebot3_gazebo empty_world.launch.py

When running, i encountered the following error:

[INFO] [launch]: All log files can be found below /home/kaeyan/.ros/log/2022-12-30-22-10-06-854162-kaeyan-70995
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_waffle.urdf
urdf_file_name : turtlebot3_waffle.urdf
[INFO] [gzserver-1]: process started with pid [70996]
[INFO] [gzclient-2]: process started with pid [70998]
[INFO] [robot_state_publisher-3]: process started with pid [71000]
[INFO] [spawn_entity.py-4]: process started with pid [71002]
[robot_state_publisher-3] Link base_link had 7 children
[robot_state_publisher-3] Link camera_link had 2 children
[robot_state_publisher-3] Link camera_depth_frame had 1 children
[robot_state_publisher-3] Link camera_depth_optical_frame had 0 children
[robot_state_publisher-3] Link camera_rgb_frame had 1 children
[robot_state_publisher-3] Link camera_rgb_optical_frame had 0 children
[robot_state_publisher-3] Link caster_back_left_link had 0 children
[robot_state_publisher-3] Link caster_back_right_link had 0 children
[robot_state_publisher-3] Link imu_link had 0 children
[robot_state_publisher-3] Link base_scan had 0 children
[robot_state_publisher-3] Link wheel_left_link had 0 children
[robot_state_publisher-3] Link wheel_right_link had 0 children
[robot_state_publisher-3] [INFO] [1672413007.697509945] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-3] [INFO] [1672413007.697578471] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1672413007.697587904] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-3] [INFO] [1672413007.697593326] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-3] [INFO] [1672413007.697597787] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-3] [INFO] [1672413007.697602384] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-3] [INFO] [1672413007.697606882] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-3] [INFO] [1672413007.697611339] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-3] [INFO] [1672413007.697615829] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-3] [INFO] [1672413007.697620149] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-3] [INFO] [1672413007.697624663] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-3] [INFO] [1672413007.697629118] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-3] [INFO] [1672413007.697633531] [robot_state_publisher]: got segment wheel_right_link
[spawn_entity.py-4] [INFO] [1672413007.965715422] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1672413007.965973847] [spawn_entity]: Loading entity XML from file /home/kaeyan/turtlebot3_ws/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
[spawn_entity.py-4] [INFO] [1672413007.966544342] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1672413007.966761544] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [ERROR] [1672413038.028179909] [spawn_entity]: Service %s/spawn_entity unavailable. Was Gazebo started with GazeboRosFactory?
[spawn_entity.py-4] [ERROR] [1672413038.029427118] [spawn_entity]: Spawn service failed. Exiting.
[ERROR] [spawn_entity.py-4]: process has died [pid 71002, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -entity waffle -file /home/kaeyan/turtlebot3_ws/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf -x 0.0 -y 0.0 -z 0.01 --ros-args'].

I even tried to export the GAZEBO_MODEL_PATH by running the following, same error still occur:
$ export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models

[KaeYan]

Also, does this simulations depends on graphic card driver?

The following is the output after the command $ sudo lshw -c video. Not sure if this helps.

  *-display                 
       description: VGA compatible controller
       product: GA104M [GeForce RTX 3070 Mobile / Max-Q]
       vendor: NVIDIA Corporation
       physical id: 0
       bus info: pci@0000:01:00.0
       version: a1
       width: 64 bits
       clock: 33MHz
       capabilities: pm msi pciexpress vga_controller bus_master cap_list rom
       configuration: driver=nvidia latency=0
       resources: iomemory:400-3ff iomemory:420-41f irq:183 memory:a3000000-a3ffffff memory:4000000000-41ffffffff memory:4200000000-4201ffffff ioport:3000(size=128) memory:c0000-dffff
  *-graphics
       product: EFI VGA
       physical id: 2
       logical name: /dev/fb0
       capabilities: fb
       configuration: depth=32 resolution=1920,1080

[thehummingbird]

I have the same issue. Did you find a solution to this?

[dbortoluzzi]

Me too. Same issue.

[onlywl9598]

Me too, I'm trying to resolve it.

[Astaxuqichao]

I encounter the same issue.
But I find if turn off all network(wired or wifi), the world open.
I guess gazebo11 is in trouble with network(gazebo 9 is normal)
Hope it can help you.