1、首先按照官<a target=_blank href="http://wiki.ros.org/cn/jade/Installation/Ubuntu" target="_blank">網Ubuntu</a>中安裝Ros Jade進行安裝。
1)配置Ubuntu軟件倉庫(這個一般默認就可以,不用看)
2)添加source.list
3)添加keyssudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
4)安裝sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116
a)首先保證Debian軟件包索引是最新的
sudo apt-get update
sudo apt-get install ros-jade-desktop-full
5)初始化rosedep
6)環境配置rosdep updatesudo rosdep init
7)安裝rosinstallecho "source /opt/ros/jade/setup.bash" >> ~/.bashrc source ~/.bashrc
2、安裝gazebo5sudo apt-get install python-rosinstall
請耐心等待幾分鐘,因爲剛開始配置的時間較長,以後就很快了。結果會出現gazebo的客戶端gazebo
如果出現下面兩行:which gzclientwhich gzserver
那麼恭喜你,gazebo5安裝成功。/usr/bin/gzserver /usr/bin/gzclient
3、安裝gazebo_ros_pkgs
1)創建catkin workspace
2)確保安裝了git工具cd ~/catkin_wsmkdir -p ~/catkin_ws/src cd ~/catkin_ws/src catkin_init_workspace
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
3)安裝開始嘍sudo apt-get install git
sudo apt-get install -y libgazebo5-dev cd ~/catkin_ws/src git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b jade-devel
檢測缺少的依賴:rosdep update rosdep check --from-paths . --ignore-src --rosdistro jade
rosdep install --from-paths . --ignore-src --rosdistro jade -y
cd ~/catkin_ws/ catkin_make
第二,執行下面兩行命令source ~/catkin_ws/devel/setup.bash
roscore &
rosrun gazebo_ros gazebo
第三,執行命令一rostopic list
結果出現/gazebo/link_states /gazebo/model_states /gazebo/parameter_descriptions /gazebo/parameter_updates /gazebo/set_model_state /gazebo/set_link_state
rosservice list
結果出現/gazebo/apply_body_wrench
/gazebo/apply_joint_effort
/gazebo/clear_body_wrenches
/gazebo/clear_joint_forces
/gazebo/get_joint_properties
/gazebo/delete_model
/gazebo/get_link_state
/gazebo/get_link_properties
/gazebo/get_loggers
/gazebo/get_model_state
/gazebo/get_model_properties
/gazebo/get_physics_properties
/gazebo/reset_world
/gazebo/get_world_properties
/gazebo/pause_physics
/gazebo/reset_simulation
/gazebo/set_logger_level
/gazebo/set_joint_properties
/gazebo/set_link_properties
/gazebo/set_link_state
/gazebo/set_physics_properties
/gazebo/set_model_configuration
/gazebo/set_model_state
/gazebo/set_parameters
/gazebo/spawn_gazebo_model
/rosout/set_logger_level
/gazebo/spawn_sdf_model
/gazebo/spawn_urdf_model
/gazebo/unpause_physics
/rosout/get_loggers