1. 为什么要折腾多版本Gazebo共存 Gazebo是机器人开发圈子里最常用的仿真环境之一，从ROS 1时代的Gazebo 9、Gazebo 11，到ROS 2时代的新版Gazebo（也就是Gazebo Garden、Gazebo Harmonic这一系列），版本迭代带来的不只是功能变化，还有整套API、插件机制、模型格式上的改动。

你可能会问，为什么不直接用 Gazebo Garden？因为 PX4 官方对 Gazebo Classic 的适配最成熟，ROS2 Humble 的 gazebo_ros 插件的默认实现也是 Classic。用新版反而要把桥接层重新编译，这部分坑比环境搭建本身还多。我见过不少人卡在“ros-ign-gazebo”这套包装不上，最后退回 Classic 问题立刻消失。这不是玄学，是 ...

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