ROS+ Gazebo 使用-初级入门

参考：

    官网：http://gazebosim.org/tutorials?tut=ros_installing      

    Install 教程：http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install  

 正规教程（官网教程-最清晰）：http://gazebosim.org/tutorials?tut=ros_installing   http://gazebosim.org/tutorials?tut=ros_installing&cat=connect_ros       

 gazebo_ros_pkgs 安装教程:  http://gazebosim.org/tutorials?tut=ros_installing&cat=connect_ros                                                       

报错信息：

1、E: 未发现软件包 libgazebo9-dev

    解决办法：http://blog.csdn.net/qq_33179208/article/details/53408068   

2、运行 gazebo， 报错：Error [Node.cc:90] No namespace found
    解决办法：虽然命令窗会出现这个信息，但是等个1 分钟还是会出现 Gazebo 的world 窗口的。

    尝试解决办法：http://blog.csdn.net/shawn_zhangguang/article/details/53096335  

   原因：http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install 

Gazebo try to collect models from http://gazebosim.org/models but there 's something wrong... the folder ~/.gazebo/models does not exist and Gazebo simulator can not start. 

解决办法:Here's a bit more simple solution: run $ wget -r -R "index\.html*" http://old.gazebosim.org/models/ to get all models from gazebosim and copy them into ~/.gazebo/models folder (after you mkdir modelsinside ~/.gazebo) and everything will be ok.

启动 Gazebo 的方式：

• Launch both the server and client together

  rosrun gazebo_ros gazebo
  

• Launch the Gazebo server only

  rosrun gazebo_ros gzserver
  

• Launch the Gazebo client only

  rosrun gazebo_ros gzclient
  

• Launches the Gazebo server only, in debug mode using GDB

  rosrun gazebo_ros debug
  

• Additionally, you can start Gazebo using roslaunch

  roslaunch gazebo_ros empty_world.launch