解决方法 执行gazebo启动文件时出现：
[ERROR] [1632398141.557684, 290.045000]: Spawn service failed. Exiting.
[urdf_spawner-6] process has died [pid 5510, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -urdf -model mrobot -param robot_description __name:=urdf_spawner __log:=/home/wyf/.ros/log/28660358-1c66-11ec-aa75-efd91e7f34ce/urdf_spawner-6.log]. log file: /home/wyf/.ros/log/28660358-1c66-11ec-aa75-efd91e7f34ce/urdf_spawner-6*.log
解决方案如下：
source ~/catkin_ws/devel/setup.bash 1 再次执行launch文件
还有改下仿真的问题world文件中的模拟时间
<sim_time>478 56330000</sim_time> 1 改为 0
<sim_time>0</sim_time> ———————————————— 版权声明：本文为CSDN博主「叶孤帆」遵循原创文章CC 4.0 BY-SA版权协议，请附上原始来源链接和本声明。 原文链接：https://blog.csdn.net/qq_40113966/article/details/120442227