Ubuntu 16+ROS kinetic 安裝Baxter SDK

在上一篇已經安裝ROS kinetic 這次安裝Baxter SDK

1.創建ROS的工作環境

mkdir -p baxter_ws/src 

2,刷新ROS Setup

 source /opt/ros/kinetic/setup.bash

3 編譯和安裝

cd ～/baxter_ws
catkin_make
catkin_make install

4 安裝SDK依賴

sudo apt-get update
sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-kinetic-control-msgs ros-kinetic-joystick-drivers

5 安裝Bzxter SDK

$ cd ~/baxter_ws/src
$ wstool init .
$ wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter/master/baxter_sdk.rosinstall
$ wstool update

6 刷新ROS Setup

 source /opt/ros/kinetic/setup.bash

7 編譯安裝

$ cd ~/baxter_ws
$ catkin_make
$ catkin_make install

8 下載baxter.sh腳本

$ wget https://github.com/RethinkRobotics/baxter/raw/master/baxter.sh
$ chmod u+x baxter.sh

9 修改baxter.sh11腳本

$ cd ~/baxter_ws
$ gedit baxter.sh
baxter_hostname="baxter_hostname.local"
your_ip="192.168.XXX.XXX"
ros_version="kinetic" 默認是indigo

10 初始化SDK環境

$ cd ~/baxter_ws
$ . baxter.sh

11 查看環境

evn|grep ROS

12 設置環境，確保找到baxter相關包

source ~/baxter_ws/devel/setup.bash 加入到~/.bashrc中