安装ros noetic
gazebo11
略
gazebo更新方法
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
vmware配置
内存一定要大 8GB不够
环境配置
官方给的安装说明
sudo apt-get install libnlopt-dev
cd ${YOUR_WORKSPACE_PATH}/src
git clone git@github.com:SYSU-STAR/STAR-Searcher.git
cd ../
catkin_make
补充安装nplot，建议用2.9.0版本，体验下来bug比较少
//先进入document目录，用源码下载的其他库都可以放在这
git clone https://github.com/stevengj/nlopt.git
cd nlopt
mkdir build && cd build
cmake ..
make
sudo make install
安ros包
sudo apt install ros-noetic-octomap-ros
安glog
sudo apt install libgoogle-glog-dev
安gazebo模型
git clone https://github.com/osrf/gazebo_models
cd gazebo_models
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=~/.gazebo ..
sudo make install
环境变量，把里面的model加到gazebo环境变量里面
export GAZEBO_MODEL_PATH=~/STAR_Searcher_ws/src/STAR-Searcher/Star-Searcher/rotors_simulator/rotors_gazebo/models/:$GAZEBO_MODEL_PATH
export GAZEBO_MODEL_PATH=~/.gazebo/models/:$GAZEBO_MODEL_PATH
export GAZEBO_MODEL_PATH=~/STAR_Searcher_ws/src/STAR-Searcher/Star-Searcher/:$GAZEBO_MODEL_PATH
效果
墙上这里有二维码的……没想到吧
