Gazebo機器人仿真學習探索筆記（一）安裝與使用【图文】

Gazebo提供了多平臺的安裝和使用支持，大部分主流的linux，Mac以及Windows，這裏結合ROS以Ubuntu爲例進行介紹。

首先是參考資料：http://gazebosim.org/tutorials?cat=install

官方提供的安裝.sh文件解析（gazebo7_install.sh）：

#!/bin/bash

# Copyright (C) 2012-2016 Open Source Robotics Foundation
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#    http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# Description:
# This script installs gazebo onto an Ubuntu system.

codename=`lsb_release -sc`

# Make sure we are running a valid Ubuntu distribution
case $codename in
  "trusty" | "utopic" | "vivid" | "wily")
  ;;
  *)
    echo "This script will only work on Ubuntu trusty, utopic, vivid, and wily"
    exit 0
esac

# Add the OSRF repository
if [ ! -e /etc/apt/sources.list.d/gazebo-latest.list ]; then
  sudo sh -c "echo \"deb http://packages.osrfoundation.org/gazebo/ubuntu ${codename} main\" > /etc/apt/sources.list.d/gazebo-latest.list"
fi

# Download the OSRF keys
has_key=`apt-key list | grep "OSRF deb-builder"`

echo "Downloading keys"
if [ -z "$has_key" ]; then
  wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
fi

 
# Update apt
echo "Retrieving packages"
sudo apt-get update -qq
echo "OK"

# Install gazebo
echo "Installing Gazebo"
sudo apt-get install gazebo7 libgazebo7-dev

echo "Complete."
echo "Type gazebo to start the simulator."

然後，使用sudo apt-get update更新，完成後顯示ok；

最後，使用sudo apt-get install gazebo7 libgazebo7-dev，完成全部安裝。

對於ROS Kinetic比較簡單直接使用：

~$ sudo apt-get install ros-kinetic-gazebo*

~$ sudo apt-get install gazebo7 libgazebo7

完成後，在終端輸入gazebo，就可以啓動。

~$ gazebo

注意，模型加載，由於網絡問題會出現這樣錯誤和警告，請離線下載gazebo模型，放在home文件夾.gazebo/model下。

完成安裝後，就可以在界面上探索Gazebo7的基本操作。

附錄以下內容轉載自官方指南：

Welcome to the Beginner Module! This module will guide you through the mostbasic features of Gazebo. We will build a simple vehicle to demonstrate thesefeatures.

Each tutorial builds upon the last, so we recommend following the tutorials in order.

These tutorials are intended for those new to Gazebo and/or folks with no programming or Linux experience.

Gazebo is a 3D dynamic simulator with the ability to accurately andefficiently simulate populations of robots in complex indoor and outdoorenvironments. While similar to game engines, Gazebo offers physicssimulation at a much higher degree of fidelity, a suite of sensors, andinterfaces for both users and programs.

Typical uses of Gazebo include:

• testing robotics algorithms,

• designing robots,

• performing regression testing with realistic scenarios

A few key features of Gazebo include:

• multiple physics engines,

• a rich library of robot models and environments,

• a wide variety of sensors,

• convenient programmatic and graphical interfaces

Gazebo is currently best used on Ubuntu, a flavor of Linux. You will need a computer that has:

• A dedicated GPU,
  • Nvidia cards tend to work well in Ubuntu
• A CPU that is at least an Intel I5, or equivalent,
• At least 500MB of free disk space,
• Ubuntu Trusty or later installed.

If you run into problems during the install, please see the complete install instructions.

1. Download the installer. If a window opens, you can close it again.

2. Copy the following text by pressing Ctrl-C:

   chmod +x ~/Downloads/gazebo7_install.sh
   

3. Press Alt-F2

   • A window with a prompt should appear in the upper left

4. Press Ctrl-V to paste the text, and press Enter

   • The window will disappear

5. Copy the following by pressing Ctrl-C:

   gnome-terminal --working-directory="~" -e "./Downloads/gazebo7_install.sh"
   

6. Press Alt-F2

   • A window with a prompt should appear in the upper left

7. Press Ctrl-V to paste the text, and press Enter

   • A new window will appear with a password prompt.

8. Enter your password, and press Enter

9. If prompted, press Y to continue

10. Wait until the window disappears

1. Press Alt-F2
2. Type "gazebo", and press Enter.

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