Ubuntu20.04のROS NoeticにIgnition citadelをインストール

ここを参考に。
rt-net.jp
ignition-citadelのインストール

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ignition-citadel

ros_ignサンプル
github.com

ビルド

$ sudo apt install libignition-common3-profiler  #これが必要だった
$ cd ~/ign_ws/src
$ git clone https://github.com/osrf/ros_ign.git
$ rosdep install -r -y --from-paths ros_ign --ignore-src
$ cd ~/ign_ws && catkin_make install && source ~/ign_ws/install/setup.bash

実行

$ source ~/ign_ws/install/setup.bash
$ roslaunch ros_ign_gazebo_demos diff_drive.launch 

操作コマンド

$ rostopic pub /model/vehicle_blue/cmd_vel geometry_msgs/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"
$ ign topic -t "/model/vehicle_blue/cmd_vel" -m ignition.msgs.Twist -p "linear: {x: 5.0}, angular: {z: 0.5}"

f:id:seinzumtode:20201122135504p:plain