uubntu16安装ROS Kinetic, Baxter, Simulator, Movei!

一、安装ROS Kinetic

１. 点开软件库，确保下图的三条都勾选，然后选择阿里源

2. 添加ROS源

打开终端

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

3. 添加密钥

wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

或者

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key　C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

4. 更新配置的源

sudo apt update

5. 安装ROS Kinetic完整版

sudo apt install ros-kinetic-desktop-full

6. 初始化rosdep

sudo rosdep init

rosdep update

7. 设置环境变量

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

8. 安装ros依赖项

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

9. 测试

打开新终端，启动ROS Master

roscore

出现这些信息说明安装成功

二、安装Baxter SDK

1.创建工作空间

创建文件夹

mkdir -p ros_ws/src 

进入/ros_ws目录

cd ~/ros_ws

编译工作空间

catkin_make

catkin_make install

文件夹中出现这4个文件夹，说明工作空间创建成功
所有的代码和功能包都要放到/src文件下

2.刷新source

 source /opt/ros/kinetic/setup.bash

3.安装Baxter SDK依赖项

sudo apt update

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

4.安装Baxter SDK

进入/ros_ws/src目录

cd ~/ros_ws/src

wstool init .

wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter/master/baxter_sdk.rosinstall

wstool update

5.刷新source

 source /opt/ros/kinetic/setup.bash

6.编译和安装

进入ros_ws目录

cd ~/ros_ws

catkin_make

catkin_make install

7.下载baxter.sh脚本

wget https://github.com/RethinkRobotics/baxter/raw/master/baxter.sh

chmod u+x baxter.sh

8.修改baxter.sh11脚本

在/ros_ws目录下

cd ~/ros_ws

gedit baxter.sh

修改下面三项

baxter_hostname="baxter_hostname.local"
your_ip="192.168.XXX.XXX"
ros_version="kinetic" 默认是indigo

baxter_hostname改为机器人名字
your_ip改为自己电脑的网络ip
ros_version改为安装的ROS版本

9. 初始化SDK环境

在/ros_ws目录下

cd ~/ros_ws

. baxter.sh

10. 验证环境

env | grep ROS

11. 设置工作空间环境变量

source ~/ros_ws/devel/setup.bash

检查环境变量

echo $ROS_PACKAGE_PATH

三、安装Simulator

1. 安装依赖包

sudo apt install gazebo7 ros-kinetic-qt-build ros-kinetic-driver-common ros-kinetic-gazebo-ros-control ros-kinetic-gazebo-ros-pkgs ros-kinetic-ros-control ros-kinetic-control-toolbox ros-kinetic-realtime-tools ros-kinetic-ros-controllers ros-kinetic-xacro python-wstool ros-kinetic-tf-conversions ros-kinetic-kdl-parser

2. 下载安装Simulator功能包

进入/ros_ws/src目录

cd ~/ros_ws/src

wstool init .

wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter_simulator/master/baxter_simulator.rosinstall

wstool update

3. 刷新source

source /opt/ros/kinetic/setup.bash

4. 编译工作空间

进入目录

cd ~/ros_ws

catkin_make

5. 使用案例

打开终端，启动ROS Master

roscore

打开新终端，进入仿真环境，打开gazebo

cd ~/ros_ws

./baxter.sh sim

roslaunch baxter_gazebo baxter_world.launch

打开新终端，开启键盘控制脚本

rosrun baxter_examples joint_position_keyboard.py

四、安装Moveit!

1. 获取github上的功能包

进入目录

cd ~/ros_ws/src

git clone https://github.com/ros-planning/moveit_robots.git

2. 更新源

sudo apt update

3. 下载Ｍoveit!

sudo apt install ros-kinetic-moveit

4. 编译工作空间

进入/ros_ws目录

cd ~/ros_ws

打开baxterSDK环境

./baxter.sh

编译

catkin_make

5. 刷新环境变量

cd ~/ros_ws

source devel/setup.bash

或者

source ~/ros_ws/devel/setup.bash

目前所有的功能包