1、Ubuntu16.04下安装Gazebo9
Kinetic中的默认Gazebo都是7.x版本,快捷键 Ctrl + Alt + T 打开终端,运行以下命令,就可以把gazebo升级为9.x
sudo apt-get remove gazebo7 gazebo7-common gazebo7-plugin-base libgazebo7:amd64 libgazebo7-dev:amd64
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install gazebo9
sudo apt-get install ros-kinetic-gazebo9-ros-control
sudo apt-get install ros-kinetic-gazebo9-ros-pkgs
最后用下面命令启动gazebo,检查是否安装成功!
gazebo
2、Gazebo9进程死亡问题解决
在gazebo9版本下进行仿真时,运行启动文件后出现以下问题:
[gazebo-2] process has died [pid 61566, exit code 255,
cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/longlong/.ros/log/3f262846-b304-11eb-9fa2-000c2969adbb/gazebo-2.log].
log file: /home/longlong/.ros/log/3f262846-b304-11eb-9fa2-000c2969adbb/gazebo-2*.log
在这里插入图片描述
大概意思是说当前的进程死亡了,解决办法就是去杀死同一时间的所有gazebo进程,然后重新运行启动文件就好了!
快捷键 Ctrl + Alt + T 打开终端,运行以下命令:
killall gzserver
killall gzclient