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<h1 style="font-size: 32px; font-weight: bold; border-bottom: 2px solid rgb(204, 204, 204); padding: 0px 4px 0px 0px; text-align: left; margin: 0px 0px 10px;">ROS2 Gazebo 仿真环境搭建</h1>参考博客：<a href="https://blog.csdn.net/ct1027038527/article/details/140131787" target="_blank">https://blog.csdn.net/ct1027038527/article/details/140131787</a> 安装依赖<pre class="brush:bash;toolbar:false">sudo apt install gazebo sudo apt install ros-humble-gazebo-*</pre> 运行测试demo<pre class="brush:bash;toolbar:false">gazebo /opt/ros/humble/share/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world</pre> <img class="pimg" src="http://www.bilibili996.com/upload/image/0fa744f812114b8e849ec6dbad5cb358.jpg?638840428014787231" title="截图 2025-05-28 15-25-56.jpg" alt="截图 2025-05-28 15-25-56.jpg"/> 发送话题，控制小车前进<pre class="brush:bash;toolbar:false">ros2 topic pub /demo/cmd_demo geometry_msgs/msg/Twist "{linear: {x: 0.2,y: 0,z: 0},angular: {x: 0,y: 0,z: 0}}"</pre>

ROS2 Gazebo 仿真环境搭建

参考博客：https://blog.csdn.net/ct1027038527/article/details/140131787

安装依赖

sudo apt install gazebo
sudo apt install ros-humble-gazebo-*

运行测试demo

gazebo /opt/ros/humble/share/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world

截图 2025-05-28 15-25-56.jpg

发送话题，控制小车前进

ros2 topic pub /demo/cmd_demo geometry_msgs/msg/Twist "{linear: {x: 0.2,y: 0,z: 0},angular: {x: 0,y: 0,z: 0}}"