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  • Baxter机器人---安装SDK包(二)

    原创博文,转载请标明出处:--周学伟http://www.cnblogs.com/zxouxuewei/

    一.frist baxter robot workspace

    root@zxwubuntu-Aspire-V3-572G:~# mkdir -p ~/ros_ws/src
    # ros_ws (short for ROS Workspace)
    

    二.Source ROS and Build

    1.Source ROS Setup

    root@zxwubuntu-Aspire-V3-572G:~# source /opt/ros/indigo/setup.bash
    

    2.Build and Install

    root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws
    root@zxwubuntu-Aspire-V3-572G:~# catkin_make
    root@zxwubuntu-Aspire-V3-572G:~# catkin_make install
    

    三.Install Baxter SDK Dependencies

    root@zxwubuntu-Aspire-V3-572G:~# sudo apt-get update
    root@zxwubuntu-Aspire-V3-572G:~# sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-indigo-control-msgs ros-indigo-joystick-drivers
    

     四.Install Baxter Research Robot SDK

    1.Install Baxter SDK

    root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws/src
    root@zxwubuntu-Aspire-V3-572G:~# wstool init .
    root@zxwubuntu-Aspire-V3-572G:~# wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter/master/baxter_sdk.rosinstall
    root@zxwubuntu-Aspire-V3-572G:~# wstool update
    

     2.Source ROS Setup

    root@zxwubuntu-Aspire-V3-572G:~# source /opt/ros/indigo/setup.bash
    

     3.Build and Install

    root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws
    root@zxwubuntu-Aspire-V3-572G:~# catkin_make
    root@zxwubuntu-Aspire-V3-572G:~# catkin_make install
    

     五.Configure Baxter Communication/ROS Workspace

    1.Download the baxter.sh script

    root@zxwubuntu-Aspire-V3-572G:~# wget https://github.com/RethinkRobotics/baxter/raw/master/baxter.sh
    root@zxwubuntu-Aspire-V3-572G:~# chmod u+x baxter.sh
    

     2.Customize the baxter.sh script

    root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws
    root@zxwubuntu-Aspire-V3-572G:~# gedit baxter.sh
    

     3.Edit the 'baxter_hostname' field

    baxter_hostname="baxter_hostname.local"
    your_ip="192.168.XXX.XXX"
    ros_version="indigo

     4.Initialize your SDK environment

    root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws
    root@zxwubuntu-Aspire-V3-572G:~# . baxter.sh
    

     六. Verify Environment

    $ env | grep ROS
    

     

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  • 原文地址:https://www.cnblogs.com/zxouxuewei/p/5110278.html
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