ROS Gazebo的几个问题

问题1

找不到JointTrajectoryController，报错如下：
Could not load controller, JointTrajectoryController does not exist

解决：
进行安装：

sudo apt-get install ros*controller*

问题2

报错：
process has died [pid 20978, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/aditya/catkin_ws/src/my_simulations/world/empty_world.world __name:=gazebo __log:=

解决：

killall gzserver 
killall gzclient

问题3

报错：
Error "context mismatch in svga_sampler_view_destroy" running GUI programs on Ubuntu in a VM

解决：

$ echo "export SVGA_VGPU10=0" >> ~/.bashrc

也可以在VMWare中进行以下设置：
把Accelerate 3D Graphics设置为无效

问题4

报错：
No shadows or lights in Gazebo
没有阴影，还没找到解决办法，

Reference

Error “context mismatch in svga_sampler_view_destroy” running GUI programs on Ubuntu in a VM
Gazebo: Could not load controller, JointTrajectoryController does not exist (Mastering ROS chapter 10)
process has died pid 20978, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/aditya/catkin_ws/src/my_simulations/world/empty_world.world __name:=gazebo __log:=
No shadows or lights in Gazebo