ROS_安装一个第三方仿真软件包——机器人模拟世界

本文记录安装一个第三方仿真软件包的实战，从下载到成功运行！
环境：ubuntu16.04 & ROS-Ubuntu2

下载源码包

在Ubuntu系统上，确保git已经安装
sudo apt-get install git

然后再创建一个名为tutorial_ws的工作空间，在它的src路径下克隆ROS-Academy-for-Beginners软件包
cd
mkdir -p tutorial_ws/src           创建catkin工作空间
cd tutorial_ws/src                 进入src路径，克隆教学软件包
git clone https://github.com/DroidAITech/ROS-Academy-for-Beginners.git

安装依赖

安装依赖：

cd ~/tutorial_ws
rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y

过程图：

注意：以上命令非常重要，缺少依赖将导致软件包无法正常编译和运行。
在开始编译之前，需要确保Gazebo在7.0版本以上

gazebo -V

编译

接着回到catkin_ws下编译:

cd ~/tutorial_ws
catkin_make

过程图：

下面是刷新环境的两种方法：

source ~/tutorial_ws/devel/setup.bash
rospack profile

过程图：

运行仿真程序

首先需要解决一个问题，不然待会儿运行时会闪退：

• 虚拟机上无法运行Gazebo的问题？
  然后进入工作空间，输入下方代码即可：

roslaunch robot_sim_demo robot_spawn.launch

下面是运行过程图（是的，一开始可能会遇到一个报错[robot_spawn.launch] is neither a launch file in package [robot_sim_demo] nor is [robot_sim_demo] a launch file name The traceback for the exception was written to the log file，然而下面的过程图已经是从报错到解决报错成功运行的过程了）：

liweipeng@liweipeng-virtual-machine:~$ rospack profile
Full tree crawl took 0.189714 seconds.
Directories marked with (*) contain no manifest.  You may
want to delete these directories.
To get just of list of directories without manifests,
re-run the profile with --zombie-only
-------------------------------------------------------------
0.141810   /opt/ros/kinetic/share
0.000770 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev
0.000257 * /opt/ros/kinetic/share/doc
0.000043 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev/haarcascades
0.000019 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev/lbpcascades
0.000008 * /opt/ros/kinetic/share/doc/liborocos-kdl
liweipeng@liweipeng-virtual-machine:~$ roslaunch robot_sim_demo robot_spawn.launch 
[robot_spawn.launch] is neither a launch file in package [robot_sim_demo] nor is [robot_sim_demo] a launch file name
The traceback for the exception was written to the log file
liweipeng@liweipeng-virtual-machine:~$ roslaunch robot_sim_demo robot_spawn.launch 
[robot_spawn.launch] is neither a launch file in package [robot_sim_demo] nor is [robot_sim_demo] a launch file name
The traceback for the exception was written to the log file
liweipeng@liweipeng-virtual-machine:~$ cd ~/tutorial_ws
liweipeng@liweipeng-virtual-machine:~/tutorial_ws$ roslaunch robot_sim_demo robot_spawn.launch 
[robot_spawn.launch] is neither a launch file in package [robot_sim_demo] nor is [robot_sim_demo] a launch file name
The traceback for the exception was written to the log file
liweipeng@liweipeng-virtual-machine:~/tutorial_ws$ source ~/tutorial_ws/devel/setup.bash
liweipeng@liweipeng-virtual-machine:~/tutorial_ws$ rospack profile
Full tree crawl took 0.025369 seconds.
Directories marked with (*) contain no manifest.  You may
want to delete these directories.
To get just of list of directories without manifests,
re-run the profile with --zombie-only
-------------------------------------------------------------
0.016329   /opt/ros/kinetic/share
0.008478   /home/liweipeng/tutorial_ws/src
0.008405   /home/liweipeng/tutorial_ws/src/ROS-Academy-for-Beginners
0.000169 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev
0.000036 * /opt/ros/kinetic/share/doc
0.000035 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev/haarcascades
0.000015 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev/lbpcascades
0.000006 * /opt/ros/kinetic/share/doc/liborocos-kdl
liweipeng@liweipeng-virtual-machine:~/tutorial_ws$ roslaunch robot_sim_demo robot_spawn.launch 
... logging to /home/liweipeng/.ros/log/3bcd5ac4-be9d-11e8-a270-000c29f43d2c/roslaunch-liweipeng-virtual-machine-2603.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://liweipeng-virtual-machine:41819/

SUMMARY
========

PARAMETERS

再打开一个终端，输入以下命令，用键盘控制机器人移动,聚焦控制程序窗口，按下i、j、l等按键，控制机器人移动：

rosrun robot_sim_demo robot_keyboard_teleop.py

过程图如下，记得运行前要刷新环境，或者用上面的方法把刷新命令添加到脚本：

呐，对比上图，我把它移到了简介牌的右边：