ros gazebo it says it's incompatible with that RT

環境說明

• ubuntu 16.04
• osrf/ros:kinetic-desktop-full-xenial
• gazebo 7.0.0

問題

gzserver: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreRenderSystem.cpp:546: virtual void Ogre::RenderSystem::setDepthBufferFor(Ogre::RenderTarget*): Assertion `bAttached && "A new DepthBuffer for a RenderTarget was created, but after creation" "it says it's incompatible with that RT"' failed.
Aborted (core dumped)

原因

gazebo 版本太低，不兼容

解決

1. 卸載 gazebo 相關

   $ sudo apt-get remove ros-kinetic-desktop-full
   $ sudo apt-get remove ros-kinetic-gazebo*
   $ sudo apt-get upgrade

   1.1 方法一：參照官方 Overview and Installation 安裝 gazebo

2. 本 case 的解決方式

   sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation

   pdf 書本上拷貝下來的軟件包

3. 緊接着更新倉庫源&升級

   sudo apt-get update && sudo apt-get upgrade

4. 最後 gazebo 升級到了 7.16.0

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參考：
Setting up ROS Kinetic and Gazebo 8 or 9
How To Uninstall gazebo7 on xenial