{"id":639,"date":"2026-03-31T16:22:45","date_gmt":"2026-03-31T08:22:45","guid":{"rendered":"https:\/\/docs.liuyaorobot.com\/?post_type=docs&p=639"},"modified":"2026-04-02T16:22:08","modified_gmt":"2026-04-02T08:22:08","slug":"%e4%bb%bf%e7%9c%9f%e7%8e%af%e5%a2%83%e7%9a%84%e5%ae%89%e8%a3%85%e6%96%b9%e6%b3%952026","status":"publish","type":"docs","link":"https:\/\/docs.liuyaorobot.com\/?docs=%e8%99%9a%e6%8b%9f%e6%9c%ba%e5%8f%8a%e4%bb%bf%e7%9c%9f%e7%8e%af%e5%a2%83\/%e4%bb%bf%e7%9c%9f%e7%8e%af%e5%a2%83%e7%9a%84%e5%ae%89%e8%a3%85%e6%96%b9%e6%b3%952026","title":{"rendered":"\u4eff\u771f\u73af\u5883\u7684\u5b89\u88c5\u65b9\u6cd52026"},"content":{"rendered":"\n

\u8f6f\u4ef6\u5305\u4e0b\u8f7d\uff1astatic.simuro.liuyaorobot.com\/archive\/catkin_ws_2026.tar<\/a><\/p>\n\n\n\n

1.\u8fdb\u5165\u4e3b\u76ee\u5f55\uff0c\u5c06\u6587\u4ef6\u5939catkin_ws\u5220\u9664\u3002<\/p>\n\n\n\n

cd ~\/
sudo rm -Rf catkin_ws<\/pre>\n\n\n\n
2.\u5bfc\u5165catkin_ws_2026.tar\u5230\u4e3b\u76ee\u5f55\u540e\uff0c\u5728<\/p>\n\n\n\n
cd ~\/<\/pre>\n\n\n\n
\u8def\u5f84\u6253\u5f00\u547d\u4ee4\u884c\uff0c\u4f7f\u7528\u547d\u4ee4<\/p>\n\n\n\n
tar xvf catkin_ws_2026.tar<\/pre>\n\n\n\n
\u89e3\u538b\uff08\u6ce8\u610f\uff1a\u4e0d\u80fd\u5728\u6587\u4ef6\u7ba1\u7406\u5668\u4f7f\u7528\u53f3\u952e\u83dc\u5355\u63d0\u53d6\uff09<\/p>\n\n\n\n
3. \u8fdb\u5165catkin_ws\uff0c\u4f7f\u7528\u547d\u4ee4`catkin_make`\u6784\u5efa\u5de5\u4f5c\u7a7a\u95f4<\/p>\n\n\n\n
cd catkin_ws\ncatkin_make<\/pre>\n\n\n\n
4. \u8fd0\u884c\u547d\u4ee4\u5b89\u88c5\u7f3a\u5931\u8f6f\u4ef6<\/p>\n\n\n\n
sudo apt install xmlstarlet<\/pre>\n\n\n\n
\u82e5\u51fa\u73b0no module name pyzbar<\/code>\uff0c\u5219\u5728\u547d\u4ee4\u884c\u8fd0\u884cpip install pyzbar<\/code>\uff0c\u5b89\u88c5\u5b8c\u540e\u5373\u53ef\u89e3\u51b3<\/p>\n\n\n\n
5.\u4fee\u6539\u73af\u5883\u53d8\u91cf<\/p>\n\n\n\n
\u5728~\/.bashrc\u4e2d\u6dfb\u52a0export GAZEBO_SIMULATION=1<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
sudo echo 'export GAZEBO_SIMULATION=1' >> ~\/.bashrc<\/pre>\n\n\n\n
7.\u6d4b\u8bd5\uff0c\u5173\u95ed\u5168\u90e8\u547d\u4ee4\u884c\u7ec8\u7aef\uff0c\u91cd\u65b0\u6253\u5f00\u4e24\u4e2a\u547d\u4ee4\u884c\u7ec8\u7aef\u3002<\/p>\n\n\n\n
#\u5728\u7b2c\u4e00\u4e2a\u547d\u4ee4\u884c\u8f93\u5165
roslaunch tutorial_gazebo sim_craic2026.launch
#\u5728\u7b2c\u4e8c\u4e2a\u547d\u4ee4\u884c\u8f93\u5165
roslaunch tutorial_basic run_vel_control.launch<\/pre>\n\n\n\n
<\/p>\n\n\n\n
\u8865\u5145\u8bf4\u660e\uff1a<\/p>\n\n\n\n
1. \u542f\u52a8gazebo\u540e\u5728rviz\u4e2d\u5e76\u4e0d\u4f1a\u663e\u793a\u70b9\u4e91,\u9700\u8981\u542f\u52a8fastlio\u76f8\u5173\u8282\u70b9\u540e\u624d\u4f1a\u5728rviz\u4e2d\u663e\u793a\u70b9\u4e91\u6570\u636e\u3002<\/p>\n\n\n\n
2.\u865a\u62df\u673a\u4eff\u771f\u5361\u987f\u8bf7\u8c03\u5927\u865a\u62df\u673a\u6838\u5fc3\u6570\u91cf\u548c\u5141\u8bb8\u7684\u8fd0\u884c\u5185\u5b58\u5927\u5c0f\uff0c\u63a8\u8350\u4f7f\u7528rostogo\u6216\u8005\u53cc\u7cfb\u7edf\u8fdb\u884c\u4eff\u771f\u3002<\/p>\n\n\n\n
3.CUDA\u914d\u7f6e\u6559\u7a0b\uff08\u6ca1\u6709nvidia\u663e\u5361<\/code>\u6216\u5728\u865a\u62df\u673a\u4e2d<\/code>\u65e0\u6cd5\u914d\u7f6e\uff09\u6839\u636e\u63d0\u793a\u5b89\u88c5\uff0c\u5728\u955c\u50cf\u4e2d\u4e0b\u8f7dcuda\u5b89\u88c5\u6587\u4ef6<\/a><\/p>\n\n\n\n
\u547d\u4ee4\u884c\u6267\u884csudo sh cuda_12.8.1_570.124.06_linux.run<\/code><\/p>\n","protected":false},"excerpt":{"rendered":"
\u8f6f\u4ef6\u5305\u4e0b\u8f7d\uff1astatic.simuro.liuyaorobot.com\/archive\/catkin_ws_2 […]<\/p>\n","protected":false},"author":7,"featured_media":0,"parent":470,"menu_order":3,"comment_status":"closed","ping_status":"closed","template":"","format":"standard","categories":[],"doc_label":[],"doc_tag":[],"class_list":["post-639","docs","type-docs","status-publish","format-standard","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/639","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs"}],"about":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/types\/docs"}],"author":[{"embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/users\/7"}],"replies":[{"embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=639"}],"version-history":[{"count":6,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/639\/revisions"}],"predecessor-version":[{"id":676,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/639\/revisions\/676"}],"up":[{"embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/470"}],"wp:attachment":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=639"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=639"},{"taxonomy":"doc_label","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_label&post=639"},{"taxonomy":"doc_tag","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_tag&post=639"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}