Ubuntu18.04安装Gazebo与ROS连接
Gazebo安装
注意:Ubuntu18.04需要下载Gazebo9这个版本,Gazebo的版本不要弄错
如果已经下载了其他版本的Gazebo,请先执行如下命令进行卸载
sudo apt-get remove gazebo-*
正式安装
- 设置计算机以接受来自package.osrfoundation.org的软件
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
- 设定键 ;
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
- 安装Gazebo
sudo apt-get update
sudo apt-get install gazebo9
# For developers that work on top of Gazebo, one extra package
sudo apt-get install libgazebo9-dev
- 安装ROS-Gazebo接口;
sudo apt install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-msgs ros-melodic-gazebo-plugins ros-melodic-gazebo-ros-control
- 验证是否安装成功,运行以下命令打开Gazebo;
roscore
rosrun gazebo_ros gazebo
打开失败运行报错处理办法
- 如果终端运行gazebo时,出现gazebo: symbol lookup error,如下面情况
fl@fl-virtual-machine:~$ rosrun gazebo_ros gazebo
gzclient: symbol lookup error: /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9: undefined symbol: _ZN8ignition10fuel_tools12ClientConfig12SetUserAgentERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE
gzserver: symbol lookup error: /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9: undefined symbol: _ZN8ignition10fuel_tools12ClientConfig12SetUserAgentERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE
解决办法
sudo apt upgrade libignition-math2
1.1 . 接下来终端再次运行gazebo时,出现 error: VMware: vmw_ioctl_command error 无效的参数,并可能伴随出现gazebo闪退现象,报错如下所示:
这是虚拟机的问题,解决办法,每次打开gazebo前运行如下语句
export SVGA_VGPU10=0
然后运行gazebo即可解决打不开的问题
gazebo
或者一劳永逸,打开bashrc文件,在一行最后添加一句export SVGA_VGPU10=0,保存退出即可大功告成
1. gedit ~/.bashrc
2. export SVGA_VGPU10=0
或者
export LIBGL_ ALWAYS_SOFTWARE=1
3. source ~/.bashrc
参考:
[1]: https://blog.csdn.net/wuzhishiwo/article/details/109117031
[2]: http://obgeqwh.top/ubuntu18-04%E5%AE%89%E8%A3%85gazebo%E5%B9%B6%E4%B8%8Eros%E8%BF%9E%E6%8E%A5/