安装gazebo_ros_pkgs的流程

网址：

http://gazebosim.org/tutorials?tut=ros_installing&cat=connect_ros

1.下载ROS

2.下载gezebo

3.测试gazebo是否安装成功，以及路径

Before attempting to install the gazebo_ros_pkgs, make sure the stand-alone Gazebo works by running in terminal:

gazebo

You should see the GUI open with an empty world. Also, test adding a model by clicking on the "Insert" tab on the left and selecting a model to add (then clicking on the simulation to select where to place the model).

Test that you have the right version of Gazebo

To see where you install Gazebo, and if it is in the correct location, run:

which gzserver
which gzclient

4.安装 gazebo_ros_pkgs（两种方法）

A.

sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-ros-control

B.

从source中安装

1.确保建立了catkin_ws

如果没有，流程如下：

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make

一定要记得添加文件夹相应的路径到 ~/.bashrc!!!!!!!(很重要)

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

2.在catkin_ws中克隆github 仓库

3.用rosdep检查是否缺少依赖，如果缺少并补丁

5.在利用相关路径下的包工作时一定要确定source过了相关路径到 ~/.bashrc

Testing Gazebo with ROS Integration

Be sure to always source the appropriate ROS setup file, which for Kinetic is done like so:

source /opt/ros/kinetic/setup.bash

You might want to add that line to your ~/.bashrc.

Assuming your ROS and Gazebo environment have been properly setup and built, you should now be able to run Gazebo through a simple rosrun command, after launching roscore if needed:

Source the catkin setup.bash if it's not already in your .bashrc

source ~/catkin_ws/devel/setup.bash

roscore &
rosrun gazebo_ros gazebo

可以直接添加到~/.bshrc文件中，避免每次都要source