Baxter

建立工作空间：

mkdir -p ~/baxter_ws/src
cd ~/baxter_ws/src
catkin_init_workspace
cd ~/baxter_ws
catkin_make
source ~/baxter_ws/devel/setup.bash
echo "source ~/baxter_ws/devel/setup.bash" >> ~/.bashrc
echo $ROS_PACKAGE_PATH
sudo apt-get update
sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-indigo-control-msgs ros-indigo-joystick-drivers

安装SDK：

cd ~/baxter_ws/src
wstool init
wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter/master/baxter_sdk.rosinstall
wstool update

构建源：

source /opt/ros/indigo/setup.bash
cd ~/baxter_ws
catkin_make
catkin_make install

配置Baxter仿真：

sudo apt-get update
sudo apt-get install gazebo2 ros-indigo-qt-build ros-indigo-driver-common ros-indigo-gazebo-ros-control ros-indigo-gazebo-ros-pkgs ros-indigo-ros-control ros-indigo-control-toolbox ros-indig