一、创建工作环境
cd ~
mkdir -p catvehicle_ws/src
cd catvehicle_ws/src
catkin_init_workspace
二、下载功能包并编译
cd ~/catvehicle_ws/src
git clone https://github.com/sprinkjm/catvehicle.git
git clone https://github.com/sprinkjm/obstaclestopper.git
cd ../
catkin_make
三、配置汽车
cd ~/catvehicle_ws
source devel/setup.bash
export SVGA_VGPU10=0
roslaunch catvehicle catvehicle_skidpan.launch
四、可视化（另开一终端）
cd ~/catvehicle_ws
source devel/setup.bash
export SVGA_VGPU10=0
gzclient