【ROS2】【2025】Simulate a 6DoF Robotic Arm in Gazebo and ROS2

在本教程中，将学习如何从头开始模拟机械臂。我们将使用 Doosan Robotics 的 6DoF 机械臂。Gazebo 和 ROS2 是执行此模拟的软件。所有代码、URDF 和配置文件都可以在我的 gitee 存储库中找到和下载。

https://gitee.com/kong-yue1/robotic_arm_environment.githttps://gitee.com/kong-yue1/robotic_arm_environment.githttps://gitee.com/kong-yue1/robotic_arm_environment.git

一、Installation Packages and Run the Simulation（安装包并运行仿真）

1.1 create your workspace（创建工作空间）

source /opt/ros/foxy/setup.bash
mkdir -p ros2_ws/src
cd ..
colcon build

1.2 Install some dependencies and necessary packages（安装一些依赖项和必要的软件包）

sudo apt install python3-vcstool
sudo apt install ros-humble-test-msgs
sudo apt install ros-humble-control-toolbox
sudo apt install ros-humble-gazebo-ros-pkgs
sudo apt install ros-humble-xacro
sudo apt install ros-humble-joint-state-publisher-gui

​1.3 download and build  in your workspace the following packages（在工作区中下载并构建以下软件包）

1.3.1 ros2_control 

cd /ros2_ws

通过wget命令从GitHub下载ros2_control的依赖文件ros2_control.repos。

wget https://raw.githubusercontent.com/roscontrols/ros2_control/master/ros2_control/ros2_control.repos

使用vcs工具将ros2_control.repos文件中定义的依赖项导入到src目录中。 

vcs import src < ros2_control.repos
colcon build

1.3.2 gazebo_ros2_control

cd ros2_ws/src
git clone -b humble https://github.com/ros-simulation/gazebo_ros2_control.git
cd ..
colcon build​​

Make sure to install these packag