OpenManipulator机械臂入门教程-PC设置

文章说明

• 介绍如何在PC上配置OpenManipulator机械臂的使用环境
• 安装Ubuntu 16.04和ROS Kinetic Kame ：参考链接

Noetic版本安装步骤

• 下载RCM，快速安装

$ cs -s install_openmanipulator_x_noetic_source.sh

melodic版本安装步骤

• 下载RCM，快速安装

$ cs -s install_openmanipulator_x_melodic_source.sh

kinetic版本安装步骤

• 分步安装

$ sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-industrial-core

$ mkdir -p ~/openManipulator_ws/src/ && cd ~/openManipulator_ws/src/
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/open_manipulator.git
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/open_manipulator_simulations.git
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/robotis_manipulator.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_applications.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_controls.git
$ cd ~/openManipulator_ws && catkin_make
$ echo "source ~/openManipulator_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

参考资料

• 官方教程