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ahnjmo

ROS2 (Foxy), Gazebo Setup 본문

IT/Ubuntu

ROS2 (Foxy), Gazebo Setup

ahnjmo 2021. 3. 25. 00:44

ROS2 (Foxy) 설치

docs.ros.org/en/foxy/Installation/Linux-Install-Debians.html

 

Installing ROS 2 via Debian Packages — ROS 2 Documentation: Foxy documentation

Debian packages for ROS 2 Foxy Fitzroy are available for Ubuntu Focal. Make sure you have a locale which supports UTF-8. If you are in a minimal environment (such as a docker container), the locale may be something minimal like POSIX. We test with the foll

docs.ros.org

 

Gazebo 설치

sudo apt install ros-foxy-gazebo-ros-pkgs

Gazebo 테스트

터미널1 에서 gazebo 실행

gazebo --verbose /opt/ros/foxy/share/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world

 터미널2 에서 ros2 topic pub

ros2 topic pub /demo/cmd_demo geometry_msgs/Twist '{linear: {x: 1.0}}' -1

Gazebo 모형이 움직이면 성공.

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