Husky Jackal仿真

Husky

官方教程：
HUSKY UGV TUTORIALS
上述资料里有怎样驾驶Husky：

rostopic pub /husky_velocity_controller/cmd_vel geometry_msgs/Twist "linear:
        x: 0.5
        y: 0.0
        z: 0.0
angular:
        x: 0.0
        y: 0.0
        z: 0.0" -r 10

$ sudo apt-get install ros-kinetic-husky-simulator
$ roslaunch husky_gazebo husky_empty_world.launch
$ roslaunch husky_gazebo husky_playpen.launch
GitHub:
husky/husky GitHub
husky/husky_customization

启动husky_gazebo时，会有关于twist_mux的错误，如下：

ERROR: cannot launch node of type [twist_mux/twist_mux]: twist_mux
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/zxj/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share

解决方案：
去下载twist_mux的源码，放在ROS工作空间下编译。
ROS wiki twist_mux
twist_mux GitHub
古月居twist_mux讲解
twist_mux 有感

此项操作之后，rostopic list才能看到cmd_vel话题“/husky_velocity_controller/cmd_vel”
（补充：melodic上似乎每安装twist_mux也有上面的话题，不确定，有待日后验证）。
但是此时向这个话题发布消息，husky仍然不能移动。
此时仍然有错误：

[ERROR] [1589680551.632428424, 1298.740000000]: Could not load controller 'husky_velocity_controller' because controller type 'diff_drive_controller/DiffDriveController' does not exist.
[ERROR] [1589680551.632480294, 1298.740000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1589680552.632838, 1299.730000]: Failed to load husky_velocity_controller

尝试按上述方法解决，即从GitHub上下载到ROS工作空间然后catkin_make：
ROS wiki diff_drive_controller
ros_controllers GitHub
但是仍然报错：

CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_workspace.cmake:95 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.  Try the
  'catkin_make_isolated' command instead.
Call Stack (most recent call first):
  CMakeLists.txt:67 (catkin_workspace)


-- Configuring incomplete, errors occurred!
See also "/home/zxj/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/zxj/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

于是catkin_make_isolated，经过大量编译输出到屏幕上，仍然不行：

-- Could not find the required component 'four_wheel_steering_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "four_wheel_steering_msgs" with any of the following names:

    four_wheel_steering_msgsConfig.cmake
    four_wheel_steering_msgs-config.cmake

  Add the installation prefix of "four_wheel_steering_msgs" to
  CMAKE_PREFIX_PATH or set "four_