sudo apt install ros-noetic-serial sudo apt install libpcap-dev sudo apt install ros-noetic-ros-controllers

需要将 models 文件拷贝到 主目录隐藏文件.gazebo文件夹下面

[ERROR] [1747124894.345114825]: No p gain specified for pid. Namespace: /mobile_base/gazebo_ros_control/pid_gains/rear_right_wheel_joint

source devel/setup.bash roslaunch pp_controller run_sim_all.launch