Gazebo 仿真环境搭建指南（ubuntu 22.04版本）
文章目录
- 这里以Ubuntu 22.04和ROS 2 Humble Hawksbill为例。注意，Ubuntu 22.04通常推荐使用ROS 2 Humble。
完整ROS 2 Humble安装流程
# 1. 确保系统最新sudoapt update &&sudoapt upgrade -y # 2. 安装基础依赖sudoaptinstall software-properties-common curl gnupg lsb-release # 3. 添加Ubuntu Universe仓库（如果未启用）sudo add-apt-repository universe # 4. 添加ROS源（使用现代方法）curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key |sudotee /usr/share/keyrings/ros-archive-keyring.gpg > /dev/null echo"deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main"|sudotee /etc/apt/sources.list.d/ros2.list # 5. 更新并安装ROSsudoapt update sudoaptinstall ros-humble-desktop -y # 6. 安装构建工具sudoaptinstall python3-colcon-common-extensions python3-rosdep -y sudo rosdep init rosdep update # 7. 配置环境echo"source /opt/ros/humble/setup.bash">> ~/.bashrc source ~/.bashrc
安装 Gazebo Fortress（ROS Humble 推荐版本）
# 1. 确保系统已更新sudoapt update sudoapt upgrade -y # 2. 安装与 ROS Humble 兼容的 Gazebosudoaptinstall -y \ gazebo \ libgazebo-dev \ gazebo-plugin-base \ gazebo-common \ ros-humble-gazebo-ros-pkgs # 3. 验证安装的 Gazebo 版本 gazebo --version
安装 TurtleBot3 完整依赖
# 安装所有必要的 TurtleBot3 依赖sudoaptinstall -y \ ros-humble-turtlebot3 \ ros-humble-turtlebot3-msgs \ ros-humble-turtlebot3-description \ ros-humble-turtlebot3-simulations \ ros-humble-turtlebot3-gazebo \ ros-humble-gazebo-ros-pkgs
在官方预定义世界启动 TurtleBot3 Waffle Pi
# 将 waffle_pi 设为默认机器人型号echo"export TURTLEBOT3_MODEL=waffle_pi">> ~/.bashrc source ~/.bashrc # 启动空世界 ros2 launch turtlebot3_gazebo turtlebot3_empty_world.launch.py # 启动带房子的世界 ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py # 启动带迷宫的挑战世界 ros2 launch turtlebot3_gazebo turtlebot3_world_maze.launch.py
可能出现的问题
启动后黑屏
# 软件渲染模式exportLIBGL_ALWAYS_SOFTWARE=1 ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
模型加载缓慢
# 提前下载所有模型mkdir -p ~/.gazebo/models wget https://github.com/osrf/gazebo_models/archive/refs/heads/master.zip unzip master.zip -d ~/.gazebo/models rm master.zip
摄像头不显示图像
# 安装必要的编解码器sudoaptinstall -y gstreamer1.0-plugins-bad gstreamer1.0-plugins-base
