{"id":547,"date":"2024-07-23T11:36:04","date_gmt":"2024-07-23T02:36:04","guid":{"rendered":"https:\/\/ahnbk.dev\/?p=547"},"modified":"2024-07-23T11:36:04","modified_gmt":"2024-07-23T02:36:04","slug":"ros2-humble-gazebo-harmonic-%ec%97%b0%eb%8f%99-%eb%b0%a9%eb%b2%95","status":"publish","type":"post","link":"https:\/\/ahnbk.dev\/?p=547","title":{"rendered":"ROS2 Humble + Gazebo Harmonic \uc5f0\ub3d9 \ubc29\ubc95"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\uc124\uce58<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ sudo curl https:\/\/packages.osrfoundation.org\/gazebo.gpg --output \/usr\/share\/keyrings\/pkgs-osrf-archive-keyring.gpg\n$ echo \"deb [arch=$(dpkg --print-architecture) signed-by=\/usr\/share\/keyrings\/pkgs-osrf-archive-keyring.gpg] http:\/\/packages.osrfoundation.org\/gazebo\/ubuntu-stable $(lsb_release -cs) main\" | sudo tee \/etc\/apt\/sources.list.d\/gazebo-stable.list > \/dev\/null\n$ sudo apt-get update\n$ sudo apt-get install gz-harmonic<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\uc2e4\ud589<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ gz sim<\/code><\/pre>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"622\" src=\"https:\/\/ahnbk.dev\/wp-content\/uploads\/2024\/07\/image-1024x622.png\" alt=\"\" class=\"wp-image-548\" srcset=\"https:\/\/ahnbk.dev\/wp-content\/uploads\/2024\/07\/image-1024x622.png 1024w, https:\/\/ahnbk.dev\/wp-content\/uploads\/2024\/07\/image-300x182.png 300w, https:\/\/ahnbk.dev\/wp-content\/uploads\/2024\/07\/image-768x466.png 768w, https:\/\/ahnbk.dev\/wp-content\/uploads\/2024\/07\/image-1536x933.png 1536w, https:\/\/ahnbk.dev\/wp-content\/uploads\/2024\/07\/image.png 1960w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">ROS2 \ud328\ud0a4\uc9c0 \uc124\uce58<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ sudo apt install ros-humble-ros-gzharmonic<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\uc124\uce58 \uc2dc ros-humble-desktop-full \ud328\ud0a4\uc9c0 \uc758\uc874\uc131\uc774 \uae68\uc9c0\uae30 \ub54c\ubb38\uc5d0, \uae30\uc874 \uc124\uce58\ub41c \ud328\ud0a4\uc9c0\ub4e4\uc774 \ub354\uc774\uc0c1 \ud544\uc694\uc5c6\ub2e4\uace0 \ub730\ud150\ub370, \uc774\uac74 \ubb34\uc2dc\ud574\ub3c4 \ub428. ign-gazebo \uad00\ub828 \ud328\ud0a4\uc9c0\ub4e4\uc774 \uc804\ubd80 \uc9c0\uc6cc\uc9c0\uace0 \uc0c8\ubc84\uc804\uc73c\ub85c \uc124\uce58\ub428.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ud328\ud0a4\uc9c0 \uc2e4\ud589<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ ros2 launch ros_gz_sim gz_sim.launch.py<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\uc124\uce58 \uc644\ub8cc.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\uc124\uce58 \uc2e4\ud589 ROS2 \ud328\ud0a4\uc9c0 \uc124\uce58 \uc124\uce58 \uc2dc ros-humble-desktop-full \ud328\ud0a4\uc9c0 \uc758\uc874\uc131\uc774 \uae68\uc9c0\uae30 \ub54c\ubb38\uc5d0, \uae30\uc874 \uc124\uce58\ub41c \ud328\ud0a4\uc9c0\ub4e4\uc774 \ub354\uc774\uc0c1 \ud544\uc694\uc5c6\ub2e4\uace0 \ub730\ud150\ub370, \uc774\uac74 \ubb34\uc2dc\ud574\ub3c4 \ub428. ign-gazebo \uad00\ub828 \ud328\ud0a4\uc9c0\ub4e4\uc774 \uc804\ubd80 \uc9c0\uc6cc\uc9c0\uace0 \uc0c8\ubc84\uc804\uc73c\ub85c \uc124\uce58\ub428. \ud328\ud0a4\uc9c0 \uc2e4\ud589 \uc124\uce58 \uc644\ub8cc.<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[98],"tags":[108,109,106,99],"class_list":["post-547","post","type-post","status-publish","format-standard","hentry","category-ros2","tag-gazebo","tag-harmonic","tag-humble","tag-ros2"],"_links":{"self":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts\/547","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=547"}],"version-history":[{"count":1,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts\/547\/revisions"}],"predecessor-version":[{"id":549,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts\/547\/revisions\/549"}],"wp:attachment":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=547"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=547"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=547"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}