从头开始搭建ROS melodic仿真环境

用了一段时间的ndigo版本ROS，因为需要想换成melodic版本，因为melodic版本对于ubuntu18.04兼容性最好，所以干脆再换个操作系统。

一，安装ubuntu 18.04
下载链接：https://releases.ubuntu.com/18.04.5/找到合适的版本安装
二，安装ROS melodic版本
设置sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

设置密钥

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt update

sudo apt install ros-melodic-desktop-full

设置环境

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

。

安装rosdep

sudo apt install python-rosdep2

初始化

sudo rosdep init

rosdep update

若是sudo rosdep init时出现错误，sudo rosdep init ERROR: cannot download default sources list from:【closed】解决如下：
#打开hosts文件

sudo gedit /etc/hosts

#在文件末尾添加

151.101.84.133  raw.githubusercontent.com

#保存后退出再尝试
此刻启动roscore可能会出现问题“ROS安装问题： “Command ‘roscore‘ not found, but can be installed with: sudo apt install python-roslaunch“”
这是因为启动roscore需要/opt/ros/melodic/bin目录下的执行文件roscore，我们到该目录下去找发现并没有roscore，所以猜测是sudo apt-get install ros-melodic-desktop-full有没安装的软件包，解决办法如下：

sudo apt-get install ros-melodic-desktop

具体可参考官网教程http://wiki.ros.org/cn/melodic/Installation/Ubuntu
三，创建工作目录
创建目录

mkdir ~/catkin_ws

echo "export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}">> ~/.bashrc

. ~/.bashrc

cd ~/catkin_ws

mkdir src

catkin_make

四，安装gazebo仿真软件
一般独立的gazebo软件在安装ROS时就已经安装好了，检查一下

gazebo

问题一：打开gazebo报错：VMware: vmw_ioctl_command error Invalid
argument
解决方法：
方法1：关闭虚拟机的3D图形加速，注意先关闭虚拟机再修改。
方法2：设置环境变量

export SVGA_VGPU10=0

一劳永逸方法

echo "export SVGA_VGPU10=0" >> ~/.bashrc

问题二：运行gazebo时出现api.ignitionfuel.org找不到
解决：修改~/.ignition/fuel中的config.yaml文件，将url: https://api.ignitionfuel.org修改为url: https://api.ignitionrobotics.org

which gzserver
which gzclient

出现下图：

安装gazebo_ros_pkgs

sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control

查看是否安装完全

source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
roscore &
rosrun gazebo_ros gazebo &

rostopic list

rosservice list

五，配置Turtlebot3仿真环境
安装Turtlebot3需要的依赖包

sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers

cd ~/catkin_ws/src/

git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

cd ~/catkin_ws

catkin_make

测试成果：

export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

export TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_gazebo turtlebot3_world.launch

export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_gazebo turtlebot3_house.launch

利用键盘控制小车行进

export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch