Baxter的Gazebo仿真环境搭建

注：这是一篇配置失败的文章，原因是Ubuntu20.04不支持Qt4，catkin_make通不过，不是20.04的可以尝试一下，或者有大神能不能帮忙看下在ubuntu20.04装baxter仿真环境有没有什么好的解决方案，十分感谢！！！

1. 下载程序包（二选一即可）：

baxter_simulator: Gazebo Simulation interface for the Baxter Research Robothttps://gitee.com/xiongguo/baxter_simulator.gitGitHub - guoxxiong/baxter_simulator: Gazebo Simulation interface for the Baxter Research RobotGazebo Simulation interface for the Baxter Research Robot - GitHub - guoxxiong/baxter_simulator: Gazebo Simulation interface for the Baxter Research Robothttps://github.com/guoxxiong/baxter_simulator.git2.  解压后把下面的包拷贝到ROS工作空间的src/文件夹下：

3. 尝试catkin_make，报错：

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "effort_controllers" with any of the following names: 

    effort_controllersConfig.cmake
    effort_controllers-config.cmake

安装缺失的包：

sudo apt-get install ros-noetic-effort-controllers

再次catkin_make，再次报错：

CMake Error at /usr/share/cmake-3.16/Modules/FindQt4.cmake:1314 (message):
  Found unsuitable Qt version "5.9.6" from
  /home/guoxiong/anaconda3/bin/qmake, this code requires Qt 4.x

 给Qt降级：

qmake -v

cd /usr/lib/x86_64-linux-gnu/qtchooser/

ls

安装Qt4:

Ubuntu 20.04 LTS 安装qt4 library_nicholas_duan的博客-CSDN博客_ubuntu20安装qt4

我装好后也失败了，时间原因暂时放弃了...希望有大佬帮忙看看怎么解决？