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vmware Ubuntu2004运行STAR-Searcher

article 2024/11/29 13:18:38

github链接

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
在这里插入图片描述

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