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  • OpenManipulatorX Gazebo仿真(Noetic)

    安装依赖

    sudo apt-get install ros-noetic-ros-controllers ros-noetic-gazebo* ros-noetic-moveit* ros-noetic-industrial-core
    sudo apt install ros-noetic-dynamixel-sdk ros-noetic-dynamixel-workbench*
    sudo apt install ros-noetic-robotis-manipulator
    

      

    下载安装包

    cd ~/catkin_ws/src/
    git clone -b noetic-devel https://gitee.com/kay2020/open_manipulator.git
    git clone -b noetic-devel https://gitee.com/kay2020/open_manipulator_msgs.git
    git clone -b noetic-devel https://gitee.com/kay2020/open_manipulator_simulations.git
    git clone https://gitee.com/kay2020/open_manipulator_dependencies.git
    cd ~/catkin_ws && catkin_make
    

      

    启动Gazebo

    在 Gazebo 模拟器上加载 OpenManipulator-X,然后单击▶Gazebo 窗口底部的Play按钮。

    roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch
    

     

    红色立方体表示末端执行器链接。

     

     

    Gazebo控制器

    启动 open_manipulator_controller 以进行 Gazebo 模拟。
    为了在仿真环境中运行控制器,请确保将use_platform参数设置为,false以便控制器可以作为仿真控制器启动,如下所示。

    roslaunch open_manipulator_controller open_manipulator_controller.launch use_platform:=false 

    在Gazebo的操作

    为了控制模拟的 OpenMANIPULATOR-X,启动OpenManipulator 控制 GUI或键盘远程操作

    图形用户界面程序

    roslaunch open_manipulator_control_gui open_manipulator_control_gui.launch

     

    键盘遥操作

    roslaunch open_manipulator_teleop open_manipulator_teleop_keyboard.launch
    

      

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  • 原文地址:https://www.cnblogs.com/kay2018/p/15670170.html
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