实用教程！ROS2 包和 apt 两种方式，轻松安装最新版 Gazebo Ionic

方法1：安装ros2包

如果是ROS用户需要参考这个文章

https://gazebosim.org/docs/latest/ros_installation/

sudo apt-get install ros-humble-ros-gz

方法2：独立安装gazebo

https://gazebosim.org/docs/latest/getstarted/

https://gazebosim.org/docs/harmonic/install_ubuntu/#binary-installation-on-ubuntu

sudo apt-get update

sudo apt-get install curl lsb-release gnupg

sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo"deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable$(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

sudo apt-get update

sudo apt-get install gz-harmonic

独立运行

参考https://gazebosim.org/docs/latest/getstarted/

gz sim shapes.sdf

ROS2运行

ros2 launch ros_gz_sim gz_sim.launch.py gz_args:=shapes.sdf

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