0 : Install
prerequisites
sudo apt-get install gazebo2
ros-indigo-qt-build
ros-indigo-driver-common
ros-indigo-gazebo-ros-pkgs
ros-indigo-ros-control
ros-indigo-control-toolbox
ros-indigo-realtime-tools
ros-indigo-ros-controllers
ros-indigo-xacro python-wstool
ros-indigo-tf-conversions
ros-indigo-kdl-parser
Install baxter_simulator
$ cd ~/catkin_ws/src
$ wstool init .
$ wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter_simulator/master/baxter_simulator.rosinstall
$ wstool update
Build Source
$ source /opt/ros/indigo/setup.bash
$ cd ~/ros_ws
$ catkin_make
$ catkin_make install
1: Edit your_ip value in baxter.sh
2: 驗證自己的gazebo是否安裝好,在terminal中輸入gazebo或者rosrun gazebo_ros gazebo 這裏存在一個坑,可能由於自己的gazebo版本更新無法加載model。具體的參考這裏。
http://answers.ros.org/question/199401/problem-with-indigo-and-gazebo-22/
1 : 連接仿真平臺
at the [baxter - http://localhost:11311]
./baxter.sh sim
roslaunch baxter_gazebo baxter_world.launch
2 : 連接關節映射(需要後續控制的話)
in the baxter.sh's floder
檢查本機IP,注意修改baxter.sh 內的 your_ip
./baxter.sh sim
rosrun baxter_tools enable_robot -e
rosrun baxter_tools enable_robot -s
rosrun baxter_interface joint_trajectory_action_server.py
3 : 打開規劃實例(需要調用moveit規劃包的話)
in the baxter.sh's folder
./baxter.sh sim
roslaunch baxter_moveit_config demo_baxter.launch for the moveit_rviz
'or' roslaunch baxter_moveit_config move_group.launch just for motion planning