uuv simulator 安装

参考：Installation - Unmanned Underwater Vehicle Simulator Documentation

uuv_simulator软件包目前已针对kinetic、lunar和发布melodic。要安装所有软件包，请运行

sudo apt install ros-kinetic-uuv-simulator

sudo apt install ros-lunar-uuv-simulator

sudo apt install ros-melodic-uuv-simulator

对于20.04系统，则不能用这个方法。下面介绍ubuntu20.04系统下uuv simulator的安装方法。

1、首先创建ROS工作区：

source /opt/ros/noetic/setup.bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

2、下载uuv simulator

cd ~/catkin_ws/src
git clone --branch noetic https://github.com/arturmiller/uuv_simulator.git

3、source然后编译

source /opt/ros/noetic/setup.bash
cd ~/catkin_ws
catkin_make

4、更新~/.bashrc文件

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

现在已经安装完毕，接下来输入命令进行测试

roslaunch uuv_gazebo_worlds empty_underwater_world.launch

启动空的水下环境，成功~