Ubuntu18.04安装Gazebo并与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

STEP1 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'

STEP2 设定键

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

STEP3 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

Gazebo与ROS连接

STEP5 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

STEP6 验证是否连接成功

roscore
rosrun gazebo_ros gazebo

STEP7 如果在上一步骤发现Gazebo打开后长时间停留在启动界面，且显示黑屏（没有网格），关掉Gazebo，并依次执行以下语句

 cd ~/.gazebo/
 mkdir -p models
 cd ~/.gazebo/models/
 wget http://file.ncnynl.com/ros/gazebo_models.txt
 wget -i gazebo_models.txt
 ls model.tar.g* | xargs -n1 tar xzvf
 killall gzserver
 killall gzclient

（注：STEP7步骤需要从网络下载，建议打开手机热点）

STEP8 重新验证是否连接成功

rosrun gazebo_ros gazebo
rostopic list

如果Gazebo打开界面如下图所示，且可以看到终端显示下面代码块中的内容，则说明Gazebo与ROS连接成功！

/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state

参考网页

[1] https://blog.csdn.net/JIEJINQUANIL/article/details/104055983
[2] https://blog.csdn.net/FLORIDA_tang/article/details/100120185
[3] https://blog.csdn.net/xp1994816/article/details/100711633
[4] https://www.cnblogs.com/tanshengjiang/p/12293024.html
[5] https://github.com/osrf/gazebo_tutorials/blob/master/install_ubuntu/tutorial_9-0.md