Ros插件安装

一、进行参数修改

~$ sudo gedit /usr/lib/python2.7/site.py
* 找到setencoding()函数， 修改第一个*
encoding = "utf-8"
重启Ubuntu

二、参数输入

~$ gazebo
报错:Gazebo [Err] [REST.cc:205] Error in REST request
~$ sudo gedit ~/.ignition/fuel/config.yaml
* 用 url: https://api.ignitionrobotics.org 替换  https://api.ignitionfuel.org *

三、安装gedit

sudo gedit ~/.bashrc //若没有安装gedit，则使用install安装

四、建图功能包

sudo apt-get install ros-melodic-cartographer-ros

五、地图服务插件

sudo apt-get install ros-melodic-map-server

六、安装pip

sudo apt install python-pip

七、导航功能包

sudo apt-get install ros-melodic-navigation

八、 Teb算法

sudo apt-get install ros-melodic-teb-local-planner

九、 Gazebo加速

echo "export SVGA_VGPU10=0" >> ~/.bashrc
source ~/.bashrc

十、Gazebo模型下载

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