安装

ros2 control 安装

安装 ros2 control，humble 替换为你使用的版本

sudo apt install ros-humble-ros2-control
sudo apt install ros-humble-ros2-controllers

使用 RosTeamWS ROS 工作区模板

能够快速地创建特定 ros 功能包，提供模板功能

https://rtw.stoglrobotics.de/master/index.html

ros2 安装

sudo apt install ros-humble-desktop

https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

ignition gazebo 安装

ignition 为新一代的模拟题，替换了之前使用的 gazebo

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-harmonic

https://staging.gazebosim.org/docs/harmonic/install_ubuntu

安装 python2 版本和 python3 版本的 numpy

sudo apt-get install python-numpy  # python2 numpy
sudo apt-get install python3-numpy  # python3 numpy