Be sure you've installed?ROS Humble?(at least ROS-Base). More ROS dependencies will be installed below.
Install either?Edifice, Fortress, or Garden.(没有harmonic,我觉得最好还是使用Fortress版本好了,因为我安装了一个Harmonic版本出现了异常说是某个库找不到什么的)
Set the?GZ_VERSION
?environment variable to the Gazebo version you'd like to compile against. For example:
export GZ_VERSION=edifice # IMPORTANT: Replace with correct version
You only need to set this variable when compiling, not when running.
The following steps are for Linux and OSX.
Create a colcon workspace:
# Setup the workspace
mkdir -p ~/ws/src
cd ~/ws/src
# Download needed software
git clone https://github.com/gazebosim/ros_gz.git -b humble
Install dependencies (this may also install Gazebo):
cd ~/ws
rosdep install -r --from-paths src -i -y --rosdistro humble
If?
rosdep
?fails to install Gazebo libraries and you have not installed them before, please follow?Gazebo installation instructions.
Build the workspace:
# Source ROS distro's setup.bash
source /opt/ros/<distro>/setup.bash
# Build and install into workspace
cd ~/ws
colcon build
If?colcon build
?fails with?this issue
CMake Error at CMakeLists.txt:81 (find_package):
By not providing "Findactuator_msgs.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"actuator_msgs", but CMake did not find one.
cd src git clone git@github.com:rudislabs/actuator_msgs.git cd ../ colcon build