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sudo apt update

sudo apt upgrade

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ROS£¨Robotic Operating System£©£ºÒ»¸öÓÃÓÚ»úеÈË¿ª·¢µÄ¿ªÔ´Æ½Ì¨¡£ÔËÐÐÒÔÏÂÏÂÁîÀ´×°ÖÃROS£º

sudo apt install ros-melodic-desktop-full

Gazebo£ºÒ»¸öÓÃÓÚÄ£Äâ»úеÈËÇéÐεĿªÔ´¹¤¾ß¡£ÔËÐÐÒÔÏÂÏÂÁîÀ´×°ÖÃGazebo£º

sudo apt install gazebo9

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sudo apt install python3 python3-pip

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echo “source /opt/ros/melodic/setup.bash” >> ~/.bashrc

source ~/.bashrc

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mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/

catkin_make

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Ê×ÏÈ £¬½¨ÉèÒ»¸öÃûΪ”talker.py”µÄPythonÎļþ £¬²¢½«ÒÔÏ´úÂ븴ÖƲ¢Õ³Ìùµ½ÎļþÖУº

#!/usr/bin/env python
import rospy
from std_msgs.msg import String

def talker():
    pub = rospy.Publisher('chatter', String, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(10) 
    while not rospy.is_shutdown():
        hello_str = "hello world %s" % rospy.get_time()
        rospy.loginfo(hello_str)
        pub.publish(hello_str)
        rate.sleep()

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass

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chmod +x talker.py

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roscore

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rosrun talker.py

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