1.环境准备

1.1部署Ros2

https://blog.csdn.net/m0_66701835/article/details/162519159?spm=1001.2014.3001.5502文章浏览阅读36次。【代码】C2-Ros2从零开始学习——部署Ros2小海龟（ros2的hello）https://blog.csdn.net/m0_66701835/article/details/162519159?spm=1001.2014.3001.5502

ros2 run turtlesim turtlesim_node
#能正常启动小海龟仿真即视为成功

1.2部署Gazebo

sudo apt-get install ros-humble-gazebo-ros-pkgs
#安装结束后新开终端验证
gazebo

1.3部署moveit

sudo apt-get install ros-humble-moveit

验证

ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true
#能启动 RViz 并显示机械臂模型，即视为安装成功