Moni

前置

sudo apt-get update sudo apt-get install ros-noetic-move-base

                 ros-noetic-dwa-local-planner 
                 ros-noetic-gazebo-ros-pkgs 
                 ros-noetic-xacro 
                 ros-noetic-joint-state-publisher-gui

创建功能包

catkin_create_pkg marin_sim urdf xacro gazebo_ros move_base roscpp geometry_msgs sensor_msgs

wpr包建图

1. 环境搭建(安装依赖)

   cd /src/wpr_simulation/scripts
   ./install_for_noetic.sh
   
   cd ~/catkin_ws/src/wpb_home/wpb_home_bringup/scripts
   ./install_for_noetic.sh
   
   cd ~/catkin_ws/src/waterplus_map_tools/scripts
   ./install_for_noetic.sh
   

2. 模拟场景启动

   roslaunch wpr_simulation wpb_stage_robocup.launch