Ubuntu14.04 + ROS indigo环境安装更新版本Gazebo

最新推荐文章于 2022-06-17 19:00:00 发布

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最新推荐文章于 2022-06-17 19:00:00 发布

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Step1：先卸载 ros-indigo-desktop-full

如果之前安装ROS时，是使用如下命令安装，则需要先卸载。

sudo apt-get install ros-indigo-desktop-full

因为，ros-indigo-desktop-full不仅包含了ros-indigo-ros-base、ros-indigo-desktop这些基本包，还集成了很多的功能包，其中包括gazebo2 以及gazebo与ROS连接的相关的包。gazebo的版本太低，如果不先卸载，会导致gazebo2 与更新版本gazebo的冲突。

使用如下命令进行卸载：

sudo apt-get remove ros-indigo-desktop-full

或者

sudo apt-get autoremove ros-indigo-desktop-full

或者

sudo apt-get remove ros-*

Step2：添加源

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

查看是否添加成功

cat /etc/apt/sources.list.d/gazebo-stable.list

如果输出如下，则说明添加源成功。

deb http://packages.osrfoundation.org/gazebo/ubuntu-stable trusty main

Step3：下载并添加秘钥

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

Step4：更新源

sudo apt-get update

Step5：选择版本下载

输入如下命令，并用tab键查看所有可供下载的版本

sudo apt-get install gazebo

输出如下结果


 
 
   
   
    
    
   
   
   
   
    
    
     
     gazebo2                     gazebo6-common
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo2-dbg                 gazebo6-dbg
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo3                     gazebo6-doc
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo3-common              gazebo6-plugin-base
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo3-dbg                 gazebo6-robocup3ds
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo3-doc                 gazebo6-robocup3ds-common
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo3-plugin-base         gazebo7
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo4                     gazebo7-common
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo4-common              gazebo7-dbg
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo4-dbg                 gazebo7-doc
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo4-doc                 gazebo7-haptix
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo4-plugin-base         gazebo7-haptix-common
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo5                     gazebo7-haptix-dbg
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo5-common              gazebo7-haptix-doc
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo5-dbg                 gazebo7-haptix-plugin-base
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo5-doc                 gazebo7-plugin-base
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo5-plugin-base         gazebo7-robocup3ds
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     gazebo6                     gazebo7-robocup3ds-common

或者，输入如下命令，并用tab键查看所有可供下载的版本

sudo apt-get install libgazebo

输出如下结果


 
 
   
   
    
    
   
   
   
   
    
    
     
     libgazebo3             libgazebo5-dev         libgazebo7-dev
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     libgazebo4             libgazebo6             libgazebo7-haptix
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     libgazebo4-dev         libgazebo6-dev         libgazebo7-haptix-dev
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     libgazebo5             libgazebo6-robocup3ds  libgazebo7-robocup3ds
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     libgazebo5-dbg         libgazebo7             libgazebo-dev

如果需要开发gazebo，则需安装libgazebo*-dev；如果只是使用gazebo，则只安装gazebo*即可

sudo apt-get install gazebo7

但是，可能会报错！！！没报错跳过这一步


 
 
   
   
    
    
   
   
   
   
    
    
     
     Reading package lists... Done
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     Building dependency tree       
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     Reading state information... Done
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     Some packages could not be installed. This may mean that you have
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     requested an impossible situation or 
     
     if you are using the unstable
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     distribution that some required packages have not yet been created
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     or been moved out of Incoming.
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     The following information may 
     
     help to resolve the situation:
    
    
   
   

   
   
    
    
   
   
   
   
    
     
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     The following packages have unmet dependencies:
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
      gazebo7 : Depends: libgazebo7 (= 7.12.0-1~trusty) but it is not going to be installed
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
                Depends: libsdformat4 but it is not going to be installed
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
                Depends: gazebo7-common (= 7.12.0-1~trusty) but it is not going to be installed
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
                Recommends: gazebo7-plugin-base
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     E: Unable to correct problems, you have held broken packages.

那么应该改用如下命令进行安装

sudo aptitude install gazebo7

安装完成后，验证

gazebo --version

输出如下，说明安装成功


 
 
   
   
    
    
   
   
   
   
    
    
     
     Gazebo multi-robot simulator, version 7.12.0
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     Copyright (C) 2012 Open Source Robotics Foundation.
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     Released under the Apache 2 License.
    
    
   
   

   
   
    
    
   
   
   
   
    
    
     
     http://gazebosim.org

Step6：重新安装ROS

sudo apt-get install ros-indigo-desktop

Step7：安装ros与gazebo接口库

sudo apt-get install ros-indigo-gazebo7-*

大功告成！

注意

安装完之后，运行gazebo
可能会报错：VMware: vmw_ioctl_command error Invalid argument.
此错误是由于VMWare开了显示器的3D图形加速功能，具体解决方法：
先关闭虚拟机，然后通过右击VMWare虚拟机选择“设置”--“显示器”选项，关机“3D图形加速”功能；
重启虚拟机，重新运行gazebo即可。