[gazebo_gui-2] process has died [pid 4588 exit code 134 cmd /opt/ros/kinetic/lib/gazebo_ros/gzc

当打算算使用gazebo工具导入urdf模型进行仿真，首先在一个终端输入： roscore

再在另一个终端输入: roslaunch pkg_name xxxxx.launch

出现如下错误提示：

Aborted (core dumped)[gazebo_gui-2] process has died [pid 4588, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/wm/.ros/log/645ac1f0-efdb-11e9-a370-000c29302a6f/gazebo_gui-2.log].log file: /home/wm/.ros/log/645ac1f0-efdb-11e9-a370-000c29302a6f/gazebo_gui-2*.log[WARN] [1571206153.468487, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.

错误原因：主要是gazebo在之前的操作中打开过，而没有完全的关闭，使用ctrl+c仅关闭了了gazebo的gui界面，并没有完全关闭gazebo。

解决方法：

输入指令：

killall gzserver && killall gzclient

参考：

/AutoRally/autorally/issues/60

/question/3881/how-to-start-and-stop-gazebo-19/