WSL2 Ubuntu20.04下ROS2 Foxy的turtlebot3_gazebo包缺失问题求助

已完成ROS2 Foxy版本《TurtleBot3快速入门指南》所有步骤，运行环境为Windows 11上的WSL2 Ubuntu 20.04，环境信息如下：

$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 20.04.5 LTS
Release:        20.04
Codename:       focal

$ printenv ROS_DISTRO
foxy

$ gazebo -version
Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org


Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

执行以下命令启动TurtleBot3 Gazebo仿真时：

$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_gazebo empty_world.launch.py

出现报错：

Package 'turtlebot3_gazebo' not found: "package 'turtlebot3_gazebo' not found, searching: ['/opt/ros/foxy']"

1. 确认turtlebot3_gazebo包是否安装 #

执行以下命令检查是否已安装该包：

sudo apt list --installed | grep turtlebot3_gazebo

若没有输出，说明未安装，执行安装命令：

sudo apt update && sudo apt install ros-foxy-turtlebot3-gazebo

2. 检查工作空间环境变量加载 #

如果是从源码编译TurtleBot3相关包，需确保工作空间的setup.bash被正确加载。假设你的工作空间路径为~/colcon_ws，执行：

source ~/colcon_ws/install/setup.bash

为避免每次启动终端手动加载，可将该命令添加到~/.bashrc：

echo "source ~/colcon_ws/install/setup.bash" >> ~/.bashrc

执行source ~/.bashrc使设置立即生效。

3. 验证ROS_PACKAGE_PATH路径 #

执行以下命令查看环境变量：

echo $ROS_PACKAGE_PATH

输出需包含你的工作空间install/share目录（如~/colcon_ws/install/share:/opt/ros/foxy/share）。若未包含，重新执行步骤2的source命令即可。

4. 全局设置TURTLEBOT3_MODEL #

将模型设置命令添加到~/.bashrc，避免每次手动输入：

echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc

执行source ~/.bashrc生效。

内容的提问来源于stack exchange，提问作者iqfareez