1 拷贝程序文件

cp -r ***/chapter7_tutorials/ ~/joey_ws/src

2 编辑URDF模型

vim ~/joey_ws/src/chapter7_tutorials/robot1_description/urdf/robot1.urdf

3 启动RViz仿真平台

roslaunch robot1_description display.launch model:="rospack find robot1_description/urdf/robot1.urdf"

4 手动调试RViz平台模型运动

roslaunch robot1_description display.launch model:="rospack find robot1_description/urdf/robot1.urdf" gui:=true

5 代码控制RViz平台模型运动

vim ~/joey_ws/src/chapter7_tutorials/robot1_description/src/state_publisher.cpp

编译过程中出现如下错误

• fake错误

sudo apt-get install ros-indigo-fake-localization

• map server错误

git clone https://github.com/ros-planning/navigation.git

• SDL错误 SDL/SDL_image.h: No such file or directory

rosdep install --from-paths src --ignore-src --rosdistro=indigo -y

运行程序

roslaunch robot1_description state_xacro.launch model:="rospack find robot1_description/urdf/robot1.xacro"

6 使用外部建模工具 SketchUp

windouws中安装SketchUp（Sketch Up只能在win与mac中运行）
下载比较慢，下回再试

7 Gazebo 仿真

7.1 运行gazebo

gazebo

7.2 下载gazebo环境

sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-roscontrol

7.3 运行 ros-gazebo

roscore & rosrun gazebo_ros gazebo

打开模型

roslaunch robot1_gazebo gazebo.launch model:="`rospack find robot1_ description`/urdf/robot1_base_01.xacro"

出现错误 IOError:

[Errno 2] No such file or directory: '/urdf/robot1_base_01.xacro'
问题是无法找到所述文件，解决方法为将rospack find robot1_ description更换为实际地址

 roslaunch robot1_gazebo gazebo.launch model:="/home/exbot/joey_ws/src/chapter7_tutorials/robot1_description/urdf/robot1_base_01.xacro"

7.4 后续待补充