ros云仿真笔记
1、室外光电组仿真赛提供资料https://pan.baidu.com/s/1TFBTbCeyQMuKnxemCbyNSw 提取码: crm5
2、室外光电组仿真比赛简易参考教程https://blog.csdn.net/qq_37668436/article/details/107142166
3、为快速入门,可参考北邮徐铭远同学在gazebo下仿真小车的开源项目https://github.com/xmy0916/racecar
4、网上找的一个问题总结基本覆盖在安装ros过程中的问题https://ismango.blog.csdn.net/article/details/106049992
5、https://www.guyuehome.com/9251
ros安装过程
安装主要参考官方简易教程,对可能遇到问题和需要注意的地方作如下说明
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添加sources.list
推荐清华大学镜像站
sudo sh -c '/etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-get update
- 安装桌面完整版ros
sudo apt-get install ros-kinetic-desktop-full
- 初始化rosdep
sudo rosdep init
rosdep update
- 环境变量设置
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc $ source ~/.bashrc
- 建议安装rosinstall工具
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
- 安装仿真依赖包
sudo apt-get install ros-kinetic-controller-manager
sudo apt-get install ros-kinetic-gazebo-ros-control
sudo apt-get install ros-kinetic-effort-controllers
sudo apt-get install ros-kinetic-joint-state-controller
sudo apt-get install ros-kinetic-driver-base
sudo apt-get install ros-kinetic-rtabmap-ros
sudo apt-get install ros-kinetic-ackermann-msgs
sudo apt-get install ros-kinetic-teb-local-planner
ros gazebo安装问题
- 初始化rosdep出错
cd /etc
sudo gedit hosts
在文件末尾添加151.101.84.133raw.githubusercontent.com
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gazebo版本
如果GAZEBO打开仿真出现CMD134问题是GAZEBO版本太低的原因从7.0.0升级到7.16.0即可
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确少GUI软件包导致rviz车模显示不完整
sudo apt-get install ros-kinetic-joint-state-publisher-gui