## 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 
```