Ubuntu 16.04安装ROS、v-rep 以及 ROS与v-rep桥接

目录

下边的大部分命令都是在终端里执行～致linux小白

安装ros kinetic版本：

参考：http://wiki.ros.org/kinetic/Installation/Ubuntu

sudo apt install ros-kinetic-desktop-full

ROS完整安装

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
sudo apt-get install ros-kinetic-joint-trajectory-controller
sudo apt-get install ros*controller*

安装 v-rep linux 64-bit：

cd ~/Downloads
wget http://coppeliarobotics.com/V-REP_PRO_EDU_V3_3_2_64_Linux.tar.gz
cd ~
tar zvxf ~/Downloads/V-REP_PRO_EDU_V3_3_2_64_Linux.tar.gz

将v-rep环境添加进 ./bashrc

echo 'export VREP_ROOT="$HOME/V-REP_PRO_EDU_V3_3_2_64_Linux"' >> ~/.bashrc # it's same to vrep3.5
source ~/.bashrc

安装一些Ubuntu包：

sudo apt install git cmake python-tempita python-catkin-tools python-lxml default-jre

安装 saxon：

cd ~/Downloads
wget http://downloads.sourceforge.net/project/saxon/Saxon-HE/9.7/SaxonHE9-7-0-8J.zip
cd ~
mkdir -p saxon/bin
cd saxon
unzip ~/Downloads/SaxonHE9-7-0-8J.zip
echo -e '#!/bin/sh\njava -jar "`dirname "$0"`/../saxon9he.jar" "$@"' > bin/saxon
chmod a+x bin/saxon

将环境添加进 .bashrc

echo 'export PATH="$PATH:$HOME/saxon/bin"' >> ~/.bashrc
source ~/.bashrc

安装 v_repStubsGen

参考：https://github.com/fferri/v_repStubsGen.git

mkdir ~/python-packages
cd ~/python-packages
git clone https://github.com/fferri/v_repStubsGen.git
echo 'export PYTHONPATH="$PYTHONPATH:$HOME/python-packages"' >> ~/.bashrc
source ~/.bashrc

制作 catkin 工作空间

rm -rf ~/catkin_ws
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin build
source devel/setup.bash
git clone https://github.com/fferri/v_repExtRosInterface.git vrep_ros_interface
catkin build

安装过程中可能出现的问题

编译所需的几个package位于VREP安装目录的programming/ros_packages下，将其复制到自己的catkin_ws/src中，用catkin工具进行编译。编译成功后将生成的.so库文件复制到V-rep安装目录中即可。
参考：https://blog.csdn.net/bamboocan/article/details/77942362