Install From source（推荐安装Fortress版本，好像很方便）

ROS

Be sure you've installed ROS Humble (at least ROS-Base). More ROS dependencies will be installed below.

Gazebo

Install either Edifice, Fortress, or Garden.(没有harmonic,我觉得最好还是使用Fortress版本好了，因为我安装了一个Harmonic版本出现了异常说是某个库找不到什么的)

Set the GZ_VERSION environment variable to the Gazebo version you'd like to compile against. For example:

export GZ_VERSION=edifice # IMPORTANT: Replace with correct version

You only need to set this variable when compiling, not when running.

Compile ros_gz

The following steps are for Linux and OSX.

1. Create a colcon workspace:

   # Setup the workspace
   mkdir -p ~/ws/src
   cd ~/ws/src# Download needed software
   git clone https://github.com/gazebosim/ros_gz.git -b humble
   

2. Install dependencies (this may also install Gazebo):

   cd ~/ws
   rosdep install -r --from-paths src -i -y --rosdistro humble
   

   If rosdep fails to install Gazebo libraries and you have not installed them before, please follow Gazebo installation instructions.

3. Build the workspace:

   # Source ROS distro's setup.bash
   source /opt/ros/<distro>/setup.bash# Build and install into workspace
   cd ~/ws
   colcon build
   

   If colcon build fails with this issue

   CMake Error at CMakeLists.txt:81 (find_package):By not providing "Findactuator_msgs.cmake" in CMAKE_MODULE_PATH thisproject has asked CMake to find a package configuration file provided by"actuator_msgs", but CMake did not find one.
   

   cd src
   git clone git@github.com:rudislabs/actuator_msgs.git
   cd ../
   colcon build