I'll start with saying that this may be a newbie question, but the current installation of Gazebo has me confused.
What I actually want to achieve is to 'easily' setup gazebo so that I can add a sensor to an animated actor model, and record the sensor data for post-processing in Matlab. I presumed the easiest way to record sensor data would be by using rosbag record, since this is mentioned in the logging tutorial.
Since the latest version is Gazebo 8 (which is installed with the one-liner
curl -ssL http://get.gazebosim.org | sh
, and the [animated model tutorial page](http://gazebosim.org/tutorials?tut=actor&cat=build_robot) also only refers to Gazebo 8, I presume that Gazebo 8 is the way to move forward.
However, the only mention of ROS integration for Gazebo 8 I can find on the [tutorial page](http://gazebosim.org/tutorials/?tut=ros_wrapper_versions) explaining which ROS version to use for which version of Gazebo, only mentions the following:
> Gazebo 8.x series >> The OSRF repository provides -gazebo8- versions of ROS/Kinetic or ROS/Lunar gazebo wrappers (gazebo8_ros_pkgs) which are built on top of the gazebo8 package.> The steps to use them are:>> - Add the osrfoundation repository to your sources list.>> - Install ros-$ROS_DISTRO-gazebo8-ros-pkgs from the osrfoundation repository, which will install the gazebo8 package. >> - Use catkin workspaces to compile the rest of the software used from source.
Obviously I don't really understand what is meant here, or I probably would not be having this question.
What I tried to do was make sure I uninstalled any previous version of gazebo
sudo apt-get remove '.*gazebo.*' '.*sdformat.*' '.*ignition-math.*' '.*ignition-msgs.*' '.*ignition-transport.*'
Then I installed ROS kinetic using
sudo apt-get install ros-kinetic-desktop-full
Then I installed Gazebo 8 with
curl -ssL http://get.gazebosim.org | sh
and tried installing ros-kinetic-gazebo8-ros-pkgs over the default installation with
sudo apt-get install ros-kinetic-gazebo8-ros-pkgs
All these installations work fine, and I can start both roscore and gazebo. However, I don't seem to have gazebo/ros integration since running rostopic list only gives me the typical /rosout and /rosout_agg topics. I presume that I may have made similar mistakes as the person asking [this question](http://answers.gazebosim.org/question/17068/could-not-open-gazebo-using-gazebo_ros/), but unfortunately nobody has replied to that issue yet.
It would be wonderful if someone could explain in more detail what the correct way is of setting up Gazebo 8 with ROS integration, because the tutorial definitely is not very clear to me.
I presume I could install gazebo 7, for which the integration with ROS seems to work fine, but I am not sure if the animated model examples will work in version 7. Also, since version 8 seems to be the current default version, integration with ROS should be made easy.
↧
