0x00 環(huán)境

基于 ubuntu 22.04 安裝 gazebo 仿真工具

0x01 安裝Gazebo

sudo apt-get update
sudo apt-get install curl lsb-release gnupg

sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-harmonic

安裝成功后，在宿主機(jī)桌面環(huán)境下，運(yùn)行 gz sim 驗(yàn)證一下。

0x02 安裝Ros

• 配置語(yǔ)言

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

• 添加源

sudo apt install software-properties-common
sudo add-apt-repository universe

sudo apt update && sudo apt install curl -y
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
sudo dpkg -i /tmp/ros2-apt-source.deb

• 安裝桌面

sudo apt update
sudo apt install ros-humble-desktop
sudo apt install ros-humble-ros-base
sudo apt install ros-dev-tools

• 配置環(huán)境變量

source /opt/ros/humble/setup.bash

• 測(cè)試：消息生產(chǎn)者

source /opt/ros/humble/setup.bash
ros2 run demo_nodes_cpp talker

• 測(cè)試: 消息監(jiān)聽(tīng)者

source /opt/ros/humble/setup.bash
ros2 run demo_nodes_py listener

0x03 運(yùn)行World & Model

// TBC