最终效果图
下载源码包
在Ubuntu系统上，确保git已经安装 sudo apt-get install git 然后再创建一个名为tutorial_ws的工作空间，在它的src路径下克隆ROS-Academy-for-Beginners软件包cdmkdir -p tutorial_ws/src 创建catkin工作空间cd tutorial_ws/src 进入src路径，克隆教学软件包 git clone https://github.com/DroidAITech/ROS-Academy-for-Beginners.git
安装依赖
安装依赖：
cd ~/tutorial_ws rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
过程图：
注意：以上命令非常重要，缺少依赖将导致软件包无法正常编译和运行。
在开始编译之前，需要确保Gazebo在7.0版本以上
gazebo -V
编译
接着回到catkin_ws下编译:
cd ~/tutorial_ws catkin_make
过程图：
下面是刷新环境的两种方法：
source ~/tutorial_ws/devel/setup.bash rospack profile
过程图：
运行仿真程序
首先需要解决一个问题，不然待会儿运行时会闪退：
虚拟机上无法运行Gazebo的问题？
然后进入工作空间，输入下方代码即可：
roslaunch robot_sim_demo robot_spawn.launch
下面是运行过程图（是的，一开始可能会遇到一个报错[robot_spawn.launch] is neither a launch file in package [robot_sim_demo] nor is [robot_sim_demo] a launch file name The traceback for the exception was written to the log file，然而下面的过程图已经是从报错到解决报错成功运行的过程了）：
liweipeng@liweipeng-virtual-machine:~$ rospack profile Full tree crawl took 0.189714 seconds. Directories marked with (*) contain no manifest. You may want to delete these directories. To get just of list of directories without manifests, re-run the profile with --zombie-only -------------------------------------------------------------0.141810 /opt/ros/kinetic/share0.000770 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev0.000257 * /opt/ros/kinetic/share/doc0.000043 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev/haarcascades0.000019 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev/lbpcascades0.000008 * /opt/ros/kinetic/share/doc/liborocos-kdl liweipeng@liweipeng-virtual-machine:~$ roslaunch robot_sim_demo robot_spawn.launch [robot_spawn.launch] is neither a launch file in package [robot_sim_demo] nor is [robot_sim_demo] a launch file name The traceback for the exception was written to the log file liweipeng@liweipeng-virtual-machine:~$ roslaunch robot_sim_demo robot_spawn.launch [robot_spawn.launch] is neither a launch file in package [robot_sim_demo] nor is [robot_sim_demo] a launch file name The traceback for the exception was written to the log file liweipeng@liweipeng-virtual-machine:~$ cd ~/tutorial_ws liweipeng@liweipeng-virtual-machine:~/tutorial_ws$ roslaunch robot_sim_demo robot_spawn.launch [robot_spawn.launch] is neither a launch file in package [robot_sim_demo] nor is [robot_sim_demo] a launch file name The traceback for the exception was written to the log file liweipeng@liweipeng-virtual-machine:~/tutorial_ws$ source ~/tutorial_ws/devel/setup.bash liweipeng@liweipeng-virtual-machine:~/tutorial_ws$ rospack profile Full tree crawl took 0.025369 seconds. Directories marked with (*) contain no manifest. You may want to delete these directories. To get just of list of directories without manifests, re-run the profile with --zombie-only -------------------------------------------------------------0.016329 /opt/ros/kinetic/share0.008478 /home/liweipeng/tutorial_ws/src0.008405 /home/liweipeng/tutorial_ws/src/ROS-Academy-for-Beginners0.000169 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev0.000036 * /opt/ros/kinetic/share/doc0.000035 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev/haarcascades0.000015 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev/lbpcascades0.000006 * /opt/ros/kinetic/share/doc/liborocos-kdl liweipeng@liweipeng-virtual-machine:~/tutorial_ws$ roslaunch robot_sim_demo robot_spawn.launch ... logging to /home/liweipeng/.ros/log/3bcd5ac4-be9d-11e8-a270-000c29f43d2c/roslaunch-liweipeng-virtual-machine-2603.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. xacro: Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Orderxacro.py is deprecated; please use xacro instead started roslaunch server http://liweipeng-virtual-machine:41819/ SUMMARY ======== PARAMETERS
再打开一个终端，输入以下命令，用键盘控制机器人移动,聚焦控制程序窗口，按下i、j、l等按键，控制机器人移动：
rosrun robot_sim_demo robot_keyboard_teleop.py
过程图如下，记得运行前要刷新环境，或者用上面的方法把刷新命令添加到脚本：
呐，对比上图，我把它移到了简介牌的右边：
作者：凌川江雪
链接：https://www.jianshu.com/p/3d7555698ca2