基于ros2与gazebo的导航仿真案例

前言

导航的入门小案例

参考：

• Ubuntu24.04 + ROS2 Jazzy + Gazebo Harmonic安装教程
• Docs / Gazebo Harmonic 注意选择版本
• ROS 2 documentation

操作

1、创建docker容器

sudo docker run -it -p 6792:22 --device=/dev/dri --group-add video --volume=/tmp/.X11-unix:/tmp/.X11-unix  --env="DISPLAY=$DISPLAY"  --name=learn_gazebo ubuntu:24.04  /bin/bash

2、安装ROS2

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

sudo apt install software-properties-common
sudo add-apt-repository universe

sudo apt update && sudo apt install curl -y
curl http://repo.ros2.org/repos.key | sudo apt-key add -
sudo mv /etc/apt/trusted.gpg /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
# you could reboot now!

3、Gazebo安装

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] http://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

测试一下

gz sim

4、Nav2安装

sudo apt install ros-jazzy-navigation2
sudo apt install ros-jazzy-nav2-bringup

5、测试

在终端输入以下代码

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/jazzy/share/turtlebot3_gazebo/models # Iron and older only with Gazebo Classic

ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False slam:=True