[2022] Use Gazebo to build a track under Ubuntu 18.04 to complete the ROS robot positioning and navigation simulation [smart car]

Table of contents

1. Installation, configuration and running environment

2. Create a working area and download the source code package

1. Create a workspace

2. Download Gazebo build track function package racecar

3. Install the software packages required for this operation

error 1

correct mistakes

error 2

correct mistakes

4. Racecar function package compilation

report error

 solve

after change

5. Start the simulation compilation

Start gazebo, run and open the car model

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1. Installation, configuration and running environment

Refer to the previous article:

【2022】Ubuntu18.04 installs Gazebo9 and connects with ROS (including various error reports and solutions )​​​​​​​​

2. Create a working area and download the source code package

1. Create a workspace

First create the ros work area racecar_ws

mkdir -p ~/racecar_ws/src

Change to the working area directory

cd ~/racecar_ws/src

Initialize the current directory as a ROS workspace

catkin_init_workspace

        It will create a directory named under the current directory srcand create a CMakeLists.txt file inside it along with an empty package.xml file:

• srcThe directory is used to store each ROS software package,
• The CMakeLists.txt file is used to configure the build system of the workspace
• The package.xml file is used to describe the metadata information of the ROS package.

        After executing catkin_init_workspacethe command, you can srcstart creating ROS packages in the directory, and then use the Catkin build tool to build and manage these packages.

2. Download Gazebo build track function package racecar

(The code used here is open source on other people's github)

git clone https://github.com/xmy0916/racecar.git

The git access is unstable, the effect is as follows, you need to try a few more times

Cloning into 'racecar'...
fatal: unable to access 'https://github.com/xmy0916/racecar.git/': Failed to connect to github.com port 443: Connection refused

Successfully downloaded:

remote: Enumerating objects: 701, done.
remote: Counting objects: 100% (701/701), done.
remote: Compressing objects: 100% (426/426), done.
remote: Total 701 (delta 252), reused 638 (delta 193), pack-reused 0
Receiving objects: 100% (701/701), 28.23 MiB | 962.00 KiB/s, done.
Resolving deltas: 100% (252/252), done.

After the download is complete, the racecar function package looks like this

3. Install the software packages required for this operation

sudo apt-get install ros-melodic-driver-base
sudo apt-get install ros--melodic-gazebo-ros-control
sudo apt-get install ros--melodic-effort-controllers
sudo apt-get install ros--melodic-joint-state-controller
sudo apt-get install ros-melodic-ackermann-msgs
sudo apt-get install ros-melodic-global-planner
sudo apt-get install ros-melodic-teb-local-planner

(It is recommended to install in sequence, do not copy all at once)

• Install the driver-base package in ROS Melodic: Provides some driver interfaces and functions for communication with hardware devices.

sudo apt-get install ros-melodic-driver-base

• Install the gazebo-ros-control package: Provides an interface and controller to the Gazebo simulation environment to control a robot or robot model in simulation.

sudo apt-get install ros-melodic-gazebo-ros-control

• Install the effort-controllers package: a number of controllers are provided to control the force or torque of the robot joints.

sudo apt-get install ros-melodic-effort-controllers

• Install the joint-state-controller package: Provides a controller that publishes messages about the state of the robot's joints.

sudo apt-get install ros-melodic-joint-state-controller

• Install the ackermann-msgs package: defines the ROS message type for the Ackermann car model.

sudo apt-get install ros-melodic-ackermann-msgs

• Install the global-planner package: Provides a global path planning algorithm.

sudo apt-get install ros-melodic-global-planner

• Install the teb-local-planner package: Provides the local path planning function using the Teb local path planner.

sudo apt-get install ros-melodic-teb-local-planner

error 1

run

sudo apt-get install ros--melodic-gazebo-ros-control

Reading package lists... Done
Building dependency tree       
Reading state information... Done
E: Unable to locate package ros—melodic-gazebo-ros-control

correct mistakes

sudo apt update

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update

1. Add the APT repository address of the ROS package to /etc/apt/sources.list.d/ros-latest.listthe file. Specifically, this command will write a line to the file specifying the address of the APT repository for the ROS package.

2. Import the key of the ROS package from the specified keyserver. This command will import the key of the ROS package to the system to ensure that the package is officially released by ROS.

3. Update the system's package index.

error 2

E: The repository 'http://ppa.launchpad.net/fkrull/deadsnakes/ubuntu bionic Release' does not have a Release file.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.

correct mistakes

This error means that this warehouse is not maintained. So we can delete it.

sudo apt-add-repository -r ppa:jonathonf/vim

i.e. remove the PPA repository named "jonathonf/vim" from your system.

4. Racecar function package compilation

cd ~/racecar_ws
catkin_make

report error

 solve

Path to search for OpenCVConfig.cmake file 

locate OpenCVConfig.cmake

   Enter the relevant directory to edit the catkinConfig.cmake file

sudo dedit catkinConfig.cmake

 

Add the following content in front of find _package

set(OpenCV_DIR /usr/share/OpenCV)

 

after change

mango@mango-virtual-machine:~/racecar_ws$ catkin_make
Base path: /home/hjx/racecar_ws
Source space: /home/hjx/racecar_ws/src
Build space: /home/hjx/racecar_ws/build
Devel space: /home/hjx/racecar_ws/devel
Install space: /home/hjx/racecar_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/hjx/racecar_ws/build"
####
####
#### Running command: "make -j1 -l1" in "/home/hjx/racecar_ws/build"
####
[  5%] Built target serial
[  8%] Built target serial_example
[  8%] Built target _ackermann_msgs_generate_messages_check_deps_AckermannDriveStamped
[  8%] Built target std_msgs_generate_messages_py
[  8%] Built target _ackermann_msgs_generate_messages_check_deps_AckermannDrive
[ 12%] Built target ackermann_msgs_generate_messages_py
[ 12%] Built target std_msgs_generate_messages_lisp

5. Start the simulation compilation​​​​​​

echo "source ~/racecar_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

1. Append thissource ~/racecar_ws/devel/setup.bash line of command to ~/.bashrcthe file. setup.bashThe file is the configuration file of the ROS workspace, this command will ensure that the ROS workspace is loaded every time the terminal is started.

2. Reload ~/.bashrcthe file so that the terminal session can access the configuration of the ROS workspace.

Start gazebo, run and open the car model

roslaunch racecar_gazebo racecar.launch