ROS2与OpenManipulator机械臂入门教程-PC设置

ROS2与OpenManipulator机械臂入门教程-PC设置

说明：

• 介绍如何在PC上配置OpenManipulator机械臂的使用环境

操作步骤

• 安装Ubuntu 20.04和ROS2 Foxy：参考链接

• 安装相关的ROS包

$ sudo apt install ros-foxy-rqt* ros-foxy-joint-state-publisher

$ mkdir -p ~/openManipulator_ws2/src/ && cd ~/openManipulator_ws/src/
$ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
$ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/open_manipulator.git
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/open_manipulator_dependencies.git
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/robotis_manipulator.git
$ cd ~/openManipulator_ws2 && colcon build --symlink-install
$ echo "source ~/openManipulator_ws2/install/setup.bash" >> ~/.bashrc
$ source ~/.bashrc