Mac M1 Pro Ubuntu22.04 humble安装gazebo和gazebo_ros_pkgs

在 ARM64 上安装 Gazebo

仿真平台Gazebo不直接支持 ARM64 架构，需要我们手动编译安装。

1、安装必要的依赖项:

sudo apt-add-repository ppa:dartsim
sudo apt update
sudo apt install libdart-dev libdart-utils-dev libdart-external-ikfast-dev libsdformat9-dev libfreeimage-dev libprotoc-dev libprotobuf-dev protobuf-compiler freeglut3-dev libcurl4-openssl-dev libtinyxml-dev libtinyxml2-dev libtar-dev libtbb-dev libogre-1.9-dev libxml2-dev pkg-config qtbase5-dev libqwt-qt5-dev libltdl-dev libgts-dev libboost-thread-dev libboost-system-dev libboost-filesystem-dev libboost-program-options-dev libboost-regex-dev libboost-iostreams-dev libsimbody-dev libignition-common3-dev libignition-fuel-tools4-dev libignition-transport8-dev libignition-math6-dev libignition-msgs5-dev

2、从 GitHub 克隆 Gazebo 源代码:

git clone https://github.com/osrf/gazebo

3、修改SearchForStuff.cmake中line 647的。将默认的9.8改为9.7。

4、编译并安装Gazebo：

cd ~/.gazebo 
mkdir build && cd build 
cmake ../ 
make -j3 
sudo make install

5、通过修改.bashrc将Gazebo添加到您的环境路径：

export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
export PATH=/usr/local/bin:$PATH
export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH

安装完之后，运行gazebo，如果显示不存在gazebo，再运行命令

sudo make install

现在运行

gazebo

安装gazebo_ros_pkgs

1、克隆 gazebo_ros_pkgs

git clone https://github.com/ros-simulation/gazebo_ros_pkgs 
cd gazebo_ros_pkgs 
git checkout ros2

2、安装gazebo_ros_pkgs

cd ~/.gazebo_ros
export MAKEFLAGS="-j 3"
colcon build

开始编译安装，这个过程有点漫长，慢慢等待。。。

在bashrc中加入：

source ~/.gazebo_ros/install/setup.bash

终端输入命令

source ~/.bashrc

现在gazebo和gazebo_ros_pkgs已经安装好了

输入命令测试一下：

ros2 launch gazebo_ros gazebo.launch.py

至此，就可以在unbuntu22.04中使用ros和gazebo进行工作了！！！