在WSL2中，运行室内仿真的时候的，odom status为invaild.
amov@amov:~$ sudo apt install ros-noetic-gazebo-plugins [sudo] password for amov: Reading package lists… Done Building dependency tree Reading state information… Done E: Unable to locate package ros-noetic-gazebo-plugins
记录一下，缺少libgazebo_ros_p3d.so 没安装。这个库是 SDF 里 要加载的，没它 ground_truth 就发布不了。 查看gazebo确实已经发布真值： ^Camov@amov:~$ rostopic echo /clock -n 1 clock: secs: 187 nsecs: 432000000
amov@amov:~$ rostopic echo /gazebo/model_states -n 1 name:
- ground_plane
- texture
- p450_0 pose:
-
position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0
-
position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0
-
position: x: 2.9284491094892473e-08 y: 0.000126164594962908 z: 0.044420426071408205 orientation: x: -0.001401963099136003 y: 5.9283324111857907e-08 z: 5.885390601057553e-08 w: 0.9999990172492479 twist:
-
linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0
-
linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0
-
linear: x: 1.8255574603030034e-06 y: 3.351121555343739e-06 z: 1.1004168660253778e-05 angular: x: -7.392767703368318e-05 y: 4.01895275630283e-05 z: -3.0340927561326425e-08
在某些情况下，ros-noetic-gazebo-plugins这个插件就是一直装不上。