如何使用泊坞窗在debian:buster系统上运行http://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/中描述的Turtlebot 3模拟？
debian:stretch中debian:buster使用存储库的步骤不适用于 var regionDimLocation1:any = regionALocation1.dimension(function (d:any) {
return d.region;
，请参阅http://wiki.ros.org/lunar/Installation/Debian
答案 0 :(得分：1)
我终于找到了解决问题的方法。
按如下方式创建float64：
Dockerfile在同一目录中添加文件FROM osrf/ros:kinetic-desktop-full-jessie
RUN apt-get update && apt-get install -y --no-install-recommends screen
RUN apt-get install -y --no-install-recommends \
ros-kinetic-joy \
ros-kinetic-teleop-twist-joy \
ros-kinetic-teleop-twist-keyboard \
ros-kinetic-laser-proc \
ros-kinetic-rgbd-launch \
ros-kinetic-depthimage-to-laserscan \
ros-kinetic-rosserial-arduino \
ros-kinetic-rosserial-python \
ros-kinetic-rosserial-server \
ros-kinetic-rosserial-client \
ros-kinetic-rosserial-msgs \
ros-kinetic-amcl \
ros-kinetic-map-server \
ros-kinetic-move-base \
ros-kinetic-urdf \
ros-kinetic-xacro \
ros-kinetic-compressed-image-transport \
ros-kinetic-rqt-image-view \
ros-kinetic-gmapping \
ros-kinetic-navigation
RUN mkdir -p /root/catkin_ws/src/ \
&& cd /root/catkin_ws/src/ \
&& git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git \
&& git clone https://github.com/ROBOTIS-GIT/turtlebot3.git \
&& git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
RUN /bin/bash -c "source /opt/ros/kinetic/setup.bash; cd /root/catkin_ws && /opt/ros/kinetic/bin/catkin_make && /opt/ros/kinetic/bin/catkin_make -DCMAKE_INSTALL_PREFIX=/opt/ros/kinetic install"
RUN apt-get install -y --no-install-recommends vim bash-completion sudo
RUN apt-get install -y --no-install-recommends apt-utils
RUN useradd --create-home --shell /bin/bash robo
RUN echo "robo ALL=(ALL:ALL) NOPASSWD:ALL" > /etc/sudoers.d/robo && chmod 0440 /etc/sudoers.d/robo
COPY ./start_simu.sh /usr/local/bin
RUN chmod 755 /usr/local/bin/start_simu.sh
USER robo
WORKDIR /home/robo
RUN rm -rf /var/lib/apt/lists/*
，其中包含：
start_simu.sh现在使用#!/bin/bash
screen -dmS turtlebot_fake /bin/bash -c "source /opt/ros/kinetic/setup.bash;env TURTLEBOT3_MODEL=burger roslaunch turtlebot3_fake turtlebot3_fake.launch"
sleep 2
screen -S turtlebot_fake -X screen /bin/bash -c "source /opt/ros/kinetic/setup.bash;env TURTLEBOT3_MODEL=burger roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch"
source "/opt/ros/$ROS_DISTRO/setup.bash"
exec "/bin/bash"
运行图片：
sudo docker build --tag ros:turtlebot3_fake_node .如果图像停止，请执行xhost +local:root
sudo docker run -it --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-uni
x:rw" ros:turtlebot3_fake_node /usr/local/bin/start_simu.sh
。
模拟正在xhost -local:root中运行，通过screen连接到它。