ros2 foxy 安装gazebo11.0

ros2 foxy 安装时参考了wiki
https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/
然后很惊喜的发现，不是full版本，没有安装gazebo
单独安吧

1. 安装gazebo
   下载 gazebo.sh，到下列网站复制，然后自己创建gazebo.sh文件，把代码站进去，
   https://raw.githubusercontent.com/ignition-tooling/release-tools/master/one-line-installations/gazebo.sh
   然后运行

sh gazebo.sh

2. 安装gazebo_ros_pkg
   到官网按照教程安装，测试
   http://gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros

sudo apt install ros-foxy-gazebo-ros-pkgs

3. 测试下
   （1）打开新终端，source以下ros2（已经在zshrc或者bashrc文件中写入的就不必了）
   （2）确认核心工具已安装

sudo apt install ros-eloquent-ros-core ros-eloquent-geometry2

(3) 使用差速转向测试

gazebo --verbose /opt/ros/foxy/share/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world

（4）打开新终端

ros2 topic pub /demo/cmd_demo geometry_msgs/Twist '{linear: {x: 1.0}}' -1

小车动起来就证明ok了

尝试安装ros control无果，经查ros1里的ros_control在ros2里换成了ros2_control
https://github.com/ros-controls/ros2_control
但是目前编译不成功，有点方~

有几个参考网站
ros_gazebo_pkg
https://medium.com/wens-learning-note/gazebo%E7%AD%86%E8%A8%98-%E4%B8%80-%E5%AE%89%E8%A3%9Dgazebo%E5%8F%8Agazebo-ros-pkgs-ba2a580bdd8b
ros_control
http://gazebosim.org/tutorials/?tut=ros_control
https://www.twblogs.net/a/5c13b12dbd9eee5e40bb756f/?lang=zh-cn