six_robot(一)——Indigo版本调试

教程参考

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
echo $ROS_PACKAGE_PATH
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

mkdir -p ~/six_ws/src
cd ~/six_ws/src
catkin_init_workspace
cd ~/six_ws/
catkin_make
source devel/setup.bash
echo $ROS_PACKAGE_PATH
echo "source ~/six_ws/devel/setup.bash" >> ~/.bashrc

roslaunch sixrobot display.launch

• 这里修改sixrobot包名为sixrobot_description
• 在sixrobot_description功能包下新建config包放入sixrobot_urdf.rviz文件
• 修改launch功能包下文件,如下部分
  
• 修改urdf文件中如下部分
  
  使用如下命令创建依赖

catkin_create_pkg sixrobot_description urdf xacro

原依赖包(如下)移除

运行命令

roslaunch sixrobot_description display.launch

替换display.launch为display_sixrobot_urdf.launch

roslaunch sixrobot_description display_sixrobot_urdf.launch

rosrun tf view_frames
evince frames.pdf

urdf_to_graphiz sixrobot.urdf

MoveIt! PR2
ros 安装moveit

sudo apt-get install ros-indigo-moveit-full
roscore
rosrun moveit_setup_assistant moveit_setup_assistant
roslaunch sixrobot_moveit_config demo.launch

roslaunch sixrobot_description gazebo.launch

roslaunch sixrobot_gazebo sixrobot_gazebo_empty_world.launch