4.9-Simulation in gazebo or webots

• We can create the simulation model for a robotic arm by updating the existing robot
• description by adding simulation parameters. 
• collision
• inertial
• tranmission
• joints
• linkd
• Gazebo
• Launch
• using ros controllers to actuate the robot model
• 先按照教科书上做的来试一下，前面没认真看书，走了一些弯路
  
• 实现步骤

• controller_managerConfig.cmake
      controller_manager-config.cmake

• sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers
  

• gazebo_ros_controlConfig.cmake
      gazebo_ros_control-config.cmake
  

• 有一个解决方案，集成在zsROSSetup.sh里面了，此处不详述
  

• 没解决，依然是gzclient: 5: export: 1500: bad variable name
  

• sudo apt-get install drcsim
  

• 打都打不开，算了，先不进行仿真了！
  

• 其实也是可以用webots的，webots也有ROS接口，无奈学习成本很高，且是商业软件