{"id":1108,"date":"2020-02-13T14:11:19","date_gmt":"2020-02-13T05:11:19","guid":{"rendered":"https:\/\/ahnbk.com\/?p=1108"},"modified":"2020-02-13T14:12:43","modified_gmt":"2020-02-13T05:12:43","slug":"using-gazebo11-with-ros1-melodic","status":"publish","type":"post","link":"https:\/\/ahnbk.com\/?p=1108","title":{"rendered":"Using Gazebo11 with ROS1 Melodic"},"content":{"rendered":"\n
\"\"<\/figure>\n\n\n\n

Gazebo 11\uc774 \uc9c0\ub09c \ub2ec\uc5d0 \ub9b4\ub9ac\uc988 \ub418\uc5c8\uc2b5\ub2c8\ub2e4. \uc774 \ubc84\uc804\uc774 Gazebo\uc758 \ub9c8\uc9c0\ub9c9 \ub9b4\ub9ac\uc988 \ubc84\uc804\uc774\uace0, \uc774\ud6c4\ub860 \uc9c0\uc6d0 \uae30\uac04\uae4c\uc9c0 \uc0c8\ub85c\uc6b4 \uae30\ub2a5\ubcf4\ub2e8, \uc8fc\ub85c \ubc84\uadf8 \uc218\uc815 \ub4f1\ub9cc \uc9c0\uc6d0\ub429\ub2c8\ub2e4. \uc0c8\ub85c\uc6b4 Ignition Gazebo\uac00 \ub098\uc62c \uc608\uc815\uc778\ub370, \uc774\ub294 Ignition Robotics\ub77c\ub294 \uacf3\uc5d0\uc11c \uc5c5\ub370\uc774\ud2b8 \ub4f1\uc744 \uc9c0\uc6d0\ud560 \uc608\uc815\uc785\ub2c8\ub2e4.<\/p>\n\n\n\n

\ud604\uc7ac\uc758 ROS\uc758 \ucd5c\uadfc LTS \ubc84\uc804\uc740 Melodic\uc73c\ub85c, \uacf5\uc2dd\uc801\uc73c\ub860 Gazebo 9\ub9cc \uc9c0\uc6d0\ud569\ub2c8\ub2e4. \ub530\ub77c\uc11c Gazebo 11\uc744 \uc0ac\uc6a9\ud558\uae30 \uc704\ud574\uc120 ROS\uc640 \uc5f0\ub3d9\ud558\uae30 \uc704\ud55c \ud328\ud0a4\uc9c0\ub4e4\uc744 \uc0c8\ub85c \ube4c\ub4dc\ud574\uc918\uc57c \ud569\ub2c8\ub2e4.<\/p>\n\n\n\n

\n\n\n\n

ROS1 Melodic\uc774 \uc124\uce58\ub41c \uc0c1\ud0dc\uc5d0\uc11c, Gazebo 11\uc744 \uc124\uce58\ud558\ub824\uba74 \ud328\ud0a4\uc9c0\uc758 \uc758\uc874\uc131 \ub4f1\uc744 \uace0\ub824\ud558\uc5ec \ub2e4\uc74c\uacfc \uac19\uc774 \uc785\ub825\ud569\ub2c8\ub2e4.<\/p>\n\n\n\n

$ sudo apt install gazebo11 libgazebo11 gazebo11-common libgazebo11-dev <\/code><\/pre>\n\n\n\n
\uc774\ub7ec\uba74, Gazebo 9\uc740 \uc790\ub3d9\uc73c\ub85c \uc81c\uac70\uac00 \ub418\uace0, Gazebo 11\uc774 \uc124\uce58\ub429\ub2c8\ub2e4.<\/p>\n\n\n\n
\uc774\uc81c ROS\uc640 \uc5f0\ub3d9\ud558\uae30 \uc704\ud55c gazebo_ros_pkgs\ub97c \uc0c8\ub85c \ubc1b\uc544 \ube4c\ub4dc\ud569\ub2c8\ub2e4.<\/p>\n\n\n\n
catkin workspace \ub0b4\uc5d0\uc11c \uc791\uc5c5\ud574\uc57c \ud558\ubbc0\ub85c,<\/p>\n\n\n\n
$ cd ~\/catkin_ws\/src\n$ git clone https:\/\/github.com\/ros-simulation\/gazebo_ros_pkgs.git\n$ cd gazebo_ros_pkgs\n$ git checkout melodic-devel\n$ catkin build <\/code><\/pre>\n\n\n\n
\ube4c\ub4dc\uac00 \uc644\ub8cc\ub418\uba74, \uc608\uc804\uacfc \uac19\uc774 \uc815\uc0c1\uc801\uc73c\ub85c ROS1\uacfc \uc5f0\ub3d9\ud558\uc5ec \uc0ac\uc6a9\uc774 \uac00\ub2a5\ud569\ub2c8\ub2e4. \ud50c\ub7ec\uadf8\uc778\ub3c4 \uc0ac\uc6a9 \uac00\ub2a5.<\/p>\n\n\n\n
$ roslaunch gazebo_ros empty_world.launch<\/code><\/pre>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\n\n\n\n
\uc704\uc640 \uac19\uc774 \uc124\uce58\ub97c \ud558\uac8c \ub418\uba74, ros-melodic-desktop-full\uc758 \uc758\uc874\uc131\uc774 \uae68\uc9c0\ubbc0\ub85c, apt\ub97c \uc0ac\uc6a9\ud560\ub54c autoremove\ub85c ROS \ud328\ud0a4\uc9c0\ub4e4\uc744 \uc790\ub3d9\uc73c\ub85c \uc9c0\uc6b0\uac8c\ub054 \uc720\ub3c4\ud558\uac8c \ub418\ub294\ub370 \uc774\ub97c \ud574\uacb0\ud558\ub824\uba74,<\/p>\n\n\n\n
$ sudo apt install ros-melodic-perception ros-melodic-desktop ros-melodic-ros-control ros-melodic-ros-controllers<\/code><\/pre>\n\n\n\n
\uc640 \uac19\uc774 \uac01\uac01\uc758 \ud328\ud0a4\uc9c0\ub4e4\uc744 \uc124\uce58\ud558\uba74 \ud574\uacb0\ub418\uace0, \uadf8 \uc678\uc758 \ud328\ud0a4\uc9c0\ub294 \ud544\uc694\uc5c6\ub294 \uac83\ub4e4\uc774\ub2c8 \uc9c0\uc6cc\ub3c4 \ubb34\ubc29\ud569\ub2c8\ub2e4.<\/p>\n\n\n\n
\ub05d.<\/p>\n","protected":false},"excerpt":{"rendered":"
Gazebo 11\uc774 \uc9c0\ub09c \ub2ec\uc5d0 \ub9b4\ub9ac\uc988 \ub418\uc5c8\uc2b5\ub2c8\ub2e4. \uc774 \ubc84\uc804\uc774 Gazebo\uc758 \ub9c8\uc9c0\ub9c9 \ub9b4\ub9ac\uc988 \ubc84\uc804\uc774\uace0, \uc774\ud6c4\ub860 \uc9c0\uc6d0 \uae30\uac04\uae4c\uc9c0 \uc0c8\ub85c\uc6b4 \uae30\ub2a5\ubcf4\ub2e8, \uc8fc\ub85c \ubc84\uadf8 \uc218\uc815 \ub4f1\ub9cc \uc9c0\uc6d0\ub429\ub2c8\ub2e4. \uc0c8\ub85c\uc6b4 Ignition Gazebo\uac00 \ub098\uc62c \uc608\uc815\uc778\ub370, \uc774\ub294 Ignition Robotics\ub77c\ub294 \uacf3\uc5d0\uc11c \uc5c5\ub370\uc774\ud2b8 \ub4f1\uc744 \uc9c0\uc6d0\ud560 \uc608\uc815\uc785\ub2c8\ub2e4. \ud604\uc7ac\uc758 ROS\uc758 \ucd5c\uadfc LTS \ubc84\uc804\uc740 Melodic\uc73c\ub85c, \uacf5\uc2dd\uc801\uc73c\ub860 Gazebo 9\ub9cc \uc9c0\uc6d0\ud569\ub2c8\ub2e4. \ub530\ub77c\uc11c Gazebo 11\uc744 \uc0ac\uc6a9\ud558\uae30 \uc704\ud574\uc120 ROS\uc640 \uc5f0\ub3d9\ud558\uae30 \uc704\ud55c \ud328\ud0a4\uc9c0\ub4e4\uc744 \uc0c8\ub85c … <\/p>\n
Continue reading “Using Gazebo11 with ROS1 Melodic”<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"advanced_seo_description":"","jetpack_seo_html_title":"","jetpack_seo_noindex":false,"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"footnotes":"","_jetpack_memberships_contains_paid_content":false},"categories":[12],"tags":[270,269,13],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"jetpack_shortlink":"https:\/\/wp.me\/p2wXSW-hS","jetpack-related-posts":[],"jetpack_likes_enabled":false,"_links":{"self":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/1108"}],"collection":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1108"}],"version-history":[{"count":2,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/1108\/revisions"}],"predecessor-version":[{"id":1112,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/1108\/revisions\/1112"}],"wp:attachment":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1108"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1108"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1108"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}