寫在最前面，在windows系統(tǒng)使用Gazebo，個人使用時雖然可行，但是bug有些，并不推薦。

• 在Win10中使用Gazebo9+進行機器人仿真

通過極其復(fù)雜的環(huán)境配置和排錯，不斷努力嘗試，源碼編譯和功能包同步，勉強使win10可以使用ROS1和ROS2的入門全部教程。

但是，由于配置過于麻煩，不同電腦，有些細(xì)節(jié)上一些小差異，導(dǎo)致無法撰寫統(tǒng)一的博文。

比如：

卡在界面處

后期通過各種途徑解決，當(dāng)然不要上網(wǎng)查閱，沒用的，基本沒有類似問題的解決方案，都是在Gazebo默認(rèn)系統(tǒng)下使用。

幾乎所有的bug都搞定后：

這……gazebo

太魔幻了，色彩顯示完全不對嘛……

還是盡量在ubuntu下使用吧。

d:\catkin_ws\src\racetrack>roslaunch aws_robomaker_racetrack_world view_racetrack.launch ... logging to C:\Users\Administrator\.ros\log\74e28170-8a8b-11ea-989a-9439e58f9605\roslaunch-MICRO-904151047-8216.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://MICRO-904151047:52707/ SUMMARY ======== PARAMETERS * /gazebo/enable_ros_network: True * /rosdistro: melodic * /rosversion: 1.14.3 * /use_sim_time: True NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) auto-starting new master process[master]: started with pid [9760] ROS_MASTER_URI=http://127.0.0.1:11311 setting /run_id to 74e28170-8a8b-11ea-989a-9439e58f9605 process[rosout-1]: started with pid [11048] started core service [/rosout] process[gazebo-2]: started with pid [10212] process[gazebo_gui-3]: started with pid [10704] Gazebo multi-robot simulator, version 9.5.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org [Wrn] [..\gazebo\gui\GuiIface.cc:209] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin [ INFO] [1588214223.854582800]: Finished loading Gazebo ROS API Plugin. [ INFO] [1588214223.858313500]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 172.17.185.129 Gazebo multi-robot simulator, version 9.5.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org [ INFO] [1588214224.924721800]: Finished loading Gazebo ROS API Plugin. [ INFO] [1588214224.928601400]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 172.17.185.129 [Wrn] [..\gazebo\common\ModelDatabase.cc:212] Unable to connect to model database using [http://models.gazebosim.org//database.config]. Only locally installed models will be available. [ INFO] [1588214237.252306600]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1588214237.506616800, 7212.429000000]: Physics dynamic reconfigure ready.

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