0x00 环境
基于 ubuntu 22.04 安装 gazebo 仿真工具
0x01 安装Gazebo
sudo apt-get update
sudo apt-get install curl lsb-release gnupg
sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-harmonic
安装成功后，在宿主机桌面环境下，运行 gz sim 验证一下。
0x02 安装Ros
- 配置语言
locale # check for UTF-8
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
locale # verify settings
- 添加源
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
sudo dpkg -i /tmp/ros2-apt-source.deb
- 安装桌面
sudo apt update
sudo apt install ros-humble-desktop
sudo apt install ros-humble-ros-base
sudo apt install ros-dev-tools
- 配置环境变量
source /opt/ros/humble/setup.bash
- 测试：消息生产者
source /opt/ros/humble/setup.bash
ros2 run demo_nodes_cpp talker
- 测试: 消息监听者
source /opt/ros/humble/setup.bash
ros2 run demo_nodes_py listener
0x03 运行World & Model
// TBC
