小鱼的go2 git库地址：https://github.com/fishros/simdog 在Gazebo中为宇树Go2机器人添加Velodyne雷达和D435i深度相机。 照git readme的说明一步步来就可以。

推荐环境：Ubuntu22.04,ROS2 humble

安装ros2 humber

wget http://fishros.com/install -O fishros && . fishros

安装依赖

sudo apt install ros-humble-gazebo-ros2-control

sudo apt install ros-humble-xacro

sudo apt install ros-humble-robot-localization

sudo apt install ros-humble-ros2-controllers

sudo apt install ros-humble-ros2-control

sudo apt install ros-humble-velodyne

sudo apt install ros-humble-velodyne-gazebo-plugins

sudo apt-get install ros-humble-velodyne-description

安装liosam依赖

sudo apt install ros-humble-perception-pcl \

   ros-humble-pcl-msgs \

   ros-humble-vision-opencv \

   ros-humble-xacro

Add GTSAM-PPA（可选）

sudo add-apt-repository ppa:borglab/gtsam-release-4.1

sudo apt install libgtsam-dev libgtsam-unstable-dev

安装 rosdepc

sudo apt install -y python3 python3-pip

sudo pip3 install --upgrade pip

sudo pip3 install rosdepc

sudo rosdepc init

rosdepc update

克隆代码并构建代码

git clone https://github.com/fishros/simdog.git -b main -o go2_ws

sudo rosdepc init

rosdepc update

cd 到项目目录

rosdepc install --from-paths src --ignore-src -r -y

colcon build --symlink-install

构建可能比较久，并且与电脑内存cpu相关，建议将内存配大一点，容易出现内存溢出问题

这种情况 rm -rf build log install

colcon build --packages-select lio_sam --parallel-workers 1

启动项目

bash start.sh

效果

报错解决

cd 项目目录 source install/setup.bash

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_link

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint

最后效果