python工具包pcg_gazebo_pkgs使用

来自书籍：Programming robots with ROS和ROScon 2019会议演讲https://roscon.ros.org/2019/talks/roscon2019_pcg_gazebo_pkgs.pdf的想法：

1. “In this chapter, we’ll show another way to create Gazebo worlds full of repetitive models: using a Python template engine”

Chapter 18：使用python template engine：Empy

2. 使用程序（python）在仿真环境中动态加载、删除model：Chapter 11.

3. 针对pcg_gazebo_pkgs，需要挖掘的具体技术：

3.1 如何使用world generator生成gazebo world：包括model list、constraints等

3.2 如何像介绍中提到的，在一台计算机中如何运行多个仿真实例：process manager部分

4. pcg_gazebo_pkgs使用：

4.1 按照Procedural Generation for Gazebo 页面指导建立workspace：~/pcg_ws，下载程序包并进行编译。安装其他需要的python包。

4.2 直接使用：在~/pcg_ws下执行python，即可直接使用pcg库中的各种函数。

4.3 使用jupyter notebook：

sudo pip install jupyter (或 sudo -H pip install jupyter)

jupyter notebook

可能出现的python兼容性错误：

Traceback (most recent call last):

  File "/home/xxx/.local/bin/jupyter-notebook", line 6, in <module>

    from notebook.notebookapp import main

  File "/home/xxx/.local/lib/python3.5/site-packages/notebook/notebookapp.py", line 49, in <module>

    from zmq.eventloop import ioloop

  File "/home/xxx/.local/lib/python3.5/site-packages/zmq/eventloop/__init__.py", line 3, in <module>

    from zmq.eventloop.ioloop import IOLoop

  File "/home/xxx/.local/lib/python3.5/site-packages/zmq/eventloop/ioloop.py", line 21, in <module>

    from tornado import ioloop

  File "/home/xxx/.local/lib/python3.5/site-packages/tornado/ioloop.py", line 33, in <module>

    import asyncio

  File "/usr/lib/python3.5/asyncio/__init__.py", line 21, in <module>

    from .base_events import *

  File "/usr/lib/python3.5/asyncio/base_events.py", line 18, in <module>

    import concurrent.futures

  File "/usr/lib/python2.7/dist-packages/concurrent/futures/__init__.py", line 8, in <module>

    from concurrent.futures._base import (FIRST_COMPLETED,

  File "/usr/lib/python2.7/dist-packages/concurrent/futures/_base.py", line 357

    raise type(self._exception), self._exception, self._traceback

                               ^

SyntaxError: invalid syntax

检查发现，是文件："/home/xxx/.local/bin/jupyter-notebook"的第一行因某种原因写成了#!/usr/bin/python3，改为#!/usr/bin/python则可消除以上错误