ROS indigo 安装gazebo7

Gazebo7支持更多新的功能，如果使用下面命令安装ROS（indigo）：

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

那么配套安装的是Gazebo2，如何在ROS（indigo）中使用更新版本的Gazebo呢？
首先，需要卸载ros-indigo-desktop-full等，如下：

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

然后，依次输入下面命令：

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

可以用：cat /etc/apt/sources.list.d/gazebo-stable.list ，查看，如下：

添加秘钥：

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



   --2016-11-24 12:39:26--  http://packages.osrfoundation.org/gazebo.key  
    Resolving packages.osrfoundation.org (packages.osrfoundation.org)... 54.193.183.180  
    Connecting to packages.osrfoundation.org (packages.osrfoundation.org)|54.193.183.180|:80... [sudo] password for relaybot: connected.  
    HTTP request sent, awaiting response... 200 OK  
    Length: 1772 (1.7K) [application/pgp-keys]  
    Saving to: ‘STDOUT’  
      
    100%[======================================>] 1,772       --.-K/s   in 0s        
     

 
2016-11-24 12:39:26 (7.08 MB/s) - written to stdout [1772/1772]  
  
OK  

完成后，更新：

sudo apt-get update  

这时，在终端输入gazebo和libgazebo，并用tab键查看：

 sudo apt-get install gazebo  
gazebo2                         gazebo5-plugin-base-prerelease  
gazebo2-dbg                     gazebo5-prerelease  
gazebo3                         gazebo6  
gazebo3-common                  gazebo6-common  
gazebo3-dbg                     gazebo6-common-prerelease  
gazebo3-doc                     gazebo6-dbg  
gazebo3-plugin-base             gazebo6-dbg-prerelease  
gazebo4                         gazebo6-doc  
gazebo4-common                  gazebo6-doc-prerelease  
gazebo4-common-prerelease       gazebo6-plugin-base  
gazebo4-dbg                     gazebo6-plugin-base-prerelease  
gazebo4-dbg-prerelease          gazebo6-prerelease  
gazebo4-doc                     gazebo6-robocup3ds  
gazebo4-doc-prerelease          gazebo6-robocup3ds-common  
gazebo4-plugin-base             gazebo7  
gazebo4-plugin-base-prerelease  gazebo7-common  
gazebo4-prerelease              gazebo7-dbg  
gazebo5                         gazebo7-doc  
gazebo5-build-deps              gazebo7-haptix  
gazebo5-common                  gazebo7-haptix-common  
gazebo5-common-prerelease       gazebo7-haptix-dbg  
gazebo5-dbg                     gazebo7-haptix-doc  
gazebo5-dbg-prerelease          gazebo7-haptix-plugin-base  
gazebo5-doc                     gazebo7-plugin-base  
gazebo5-doc-prerelease          gazebo7-robocup3ds  
gazebo5-plugin-base             gazebo7-robocup3ds-common  

~$ sudo apt-get install libgazebo  
libgazebo3                 libgazebo6-dev  
libgazebo4                 libgazebo6-dev-prerelease  
libgazebo4-dev             libgazebo6-prerelease  
libgazebo4-dev-prerelease  libgazebo6-robocup3ds  
libgazebo4-prerelease      libgazebo7  
libgazebo5                 libgazebo7-dev  
libgazebo5-dbg             libgazebo7-haptix  
libgazebo5-dev             libgazebo7-haptix-dev  
libgazebo5-dev-prerelease  libgazebo7-robocup3ds  
libgazebo5-prerelease      libgazebo-dev  
libgazebo6    

如果需要开发gazebo，需安装libgazebo*-dev，如果只是使用，安装gazebo*，如下：

sudo apt-get install gazebo7  

安装完毕后，在终端输入gazebo，查看：

gazebo 

但是到这里只是安装了Gazebo的新版，需要重新安装ROS。

sudo apt-get install ros-indigo-desktop  

注意不要安装full版，Gazebo2不能与更新版本的Gazebo共存，需要单独安装所需功能包即可。
然后，安装ros-gazebo接口库等，以7为例如下：

:~$ sudo apt-get install ros-indigo-gazebo7-  
ros-indigo-gazebo7-msgs         ros-indigo-gazebo7-ros-control  
ros-indigo-gazebo7-plugins      ros-indigo-gazebo7-ros-pkgs  
ros-indigo-gazebo7-ros  

安装完毕后，ROS（indigo）就可以和Gazebo7一起使用了

转自https://blog.csdn.net/zhangrelay/article/details/53318991#commentBox