1下载Universal Robots机器人功能包
在桌面Ctrl+alt+t打开一个新终端,执行以下指令:
mkdir catkin_ws/src
cd catkin_ws/src
git clone -b melodic-devel https://github.com/ros-industrial/universal_robot.git
cd ..
rosdep updaterosdep install --from-paths src --ignore-src
catkin_make
source ~/catkin_ws/devel/setup.bash
为了避免每次运行都加载环境变量,可以直接在bashrc文件中添加路径
第一布,打开文件夹,在主目录下按ctrl+h显示隐藏文件。找到.bashrc文件,在文件最后一行添加:
source /home/cq/catkin_ws/devel/setup.bash
这里的路径根据自己的实际情况修改。
2.demo在rviz中仿真
在catkin_ws目录下打开终端,执行指令:
source ./devel/setup.bash
roslaunch ur5_moveit_config demo.launch
如果按上述方法修改了.bashrc文件,则不需要在终端中执行source ./devel/setup.bash
3.rviz+Gazebo仿真
在catkin_ws目录下打开三个新终端,分别执行指令:
source ./devel/setup.bash
roslaunch ur_gazebo ur5_bringup.launch
source ./devel/setup.bash
roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=true
source ./devel/setup.bash
roslaunch ur5_moveit_config moveit_rviz.launch
同样,如果按上述方法修改了.bashrc文件,则不需要在每个终端中执行source ./devel/setup.bash