Ubuntu 16 +ROS Kinetic 安装 Baxter Simulator

1.安装依赖

 sudo apt-get 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 .下载软件包

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

3. 编译

$ source /opt/ros/kinetic/setup.bash
$ CD〜/ baxter_ws
$ catkin_make

4 .模拟,启动baxter机器人和环境

 roslaunch baxter_gazebo baxter_world.launch

5 .问题。如遇到

[ INFO] [1400513321.531488283, 34.216000000]: Simulator is loaded and started successfully 模拟器已加载并成功启动
[ INFO] [1400513321.535040726, 34.219000000]: Robot is disabled  机器人已禁用
[ INFO] [1400513321.535125386, 34.220000000]: Gravity compensation was turned off 重力补偿已关闭

可使用 enable_robot 脚本设置如下

To Enable the robot:
$ rosrun baxter_tools enable_robot.py -e

To Disable the robot:
$ rosrun baxter_tools enable_robot.py -d

6 .使用键盘控制案例

$ rosrun baxter_examples joint_position_keyboard.py

编译问题请看
C++11问题
Parse error at “BOOST_JOIN”

参考