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4 changes: 2 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ sudo apt-get install ros-noetic-moveit-*
controller

```
sudo apt-get install ros-noetic-gazebo-ros ros-noetic-gazebo-ros-control ros-noetic-gazebo-ros-pkgs ros-noetic-control-* ros-noetic-velodyne* ros-noetic-roboticsgroup-upatras-gazebo-plugins ros-noetic-robotis-manipulator ros-noetic-effort-controllers ros-noetic-joint-trajectory-action ros-noetic-joint-state-controller ros-noetic-position-controllers ros-noetic-effort-controllers ros-noetic-gripper-action-controller ros-noetic-joint-trajectory-controller
sudo apt-get install ros-noetic-gazebo-ros ros-noetic-gazebo-ros-control ros-noetic-gazebo-ros-pkgs ros-noetic-control-* ros-noetic-velodyne* ros-noetic-roboticsgroup-upatras-gazebo-plugins ros-noetic-robotis-manipulator ros-noetic-effort-controllers ros-noetic-joint-trajectory-action ros-noetic-joint-state-controller ros-noetic-position-controllers ros-noetic-effort-controllers ros-noetic-gripper-action-controller ros-noetic-joint-trajectory-controller ros-noetic-locomotor-msgs ros-noetic-move-base-msgs ros-noetic-mbf-msgs ros-noetic-geomotric-shapes
```

创建工作空间
Expand Down Expand Up @@ -171,4 +171,4 @@ roslaunch cobot_nav navigation_rtab.launch

如模型在运动过程中出现崩溃现象，可以尝试修改以下参数；gazebo 中的物理参数，**迭代次数从50改为100或者更大**

![](img/D33C9474-6A29-4691-8E64-565D9B2B9F46.png)
![](img/D33C9474-6A29-4691-8E64-565D9B2B9F46.png)