机器人仿真-gazebo学习笔记（1）前期准备

1.更新gazebo到gazebo11

1)查看我们的gazebo插件（我这里已经是gazebo11了，但对于ubuntu18.04的同学来说应该是gazebo9）

dpkg -l | grep gazebo

2)卸载gazebo9的插件

sudo apt-get purge gazebo9 gazebo9-common gazebo9-plugin-base libgazebo9:amd64 libgazebo9-dev:amd64 ros-melodic-gazebo-* 

3)配置镜像

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

4) 设置Key

wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

5)更新

sudo apt-get update

6)安装gazebo11

sudo apt-get install gazebo11
sudo apt-get install libgazebo11-dev

7)安装gazebo的ros插件

sudo apt install ros-melodic-gazebo11-*

8)检验gazebo安装

gazebo

9)启动ros和gazebo

roscore
rosrun gazebo_ros gazebo

10)验证ros和gazebo连接成功

rostopic list

 

11)gazebo的服务列表

rosservice list

1.先建立一个工作空间

mkdir -p gazebo_ws/src
 cd gazebo_ws/src/

2.安装功能包

git clone https://gitee.com/bingda-robot/bingda_tutorials

3.编译工作空间

cd ..
catkin_make

4.安装依赖

 sudo apt install ros-$ROS_DISTRO-gazebo-ros ros-$ROS_DISTRO-gazebo-ros-control ros-$ROS_DISTRO-gazebo-plugins ros-$ROS_DISTRO-robot-state-publisher