Ubuntu 16.04 + Ros Kinetic下使用Baxter Simulator及MoveIt!
步骤
- 启动仿真
./baxter.sh sim
roslaunch baxter_gazebo baxter_world.launch
- 启动轨迹服务器
./baxter.sh sim
rosrun baxter_interface joint_trajectory_action_server.py
- 使能baxter
./baxter.sh sim
rosrun baxter_tools enable_robot.py -e
- 运行demo
roslaunch baxter_moveit_config demo_baxter.launch load_robot_description:=true right_electric_gripper:=true left_electric_gripper:=true