Ubuntu 16+ROS kinetic 安装Baxter SDK

在上一篇已经安装ROS kinetic 这次安装Baxter SDK

1.创建ROS的工作环境

mkdir -p baxter_ws/src 

2,刷新ROS Setup

 source /opt/ros/kinetic/setup.bash

3 编译和安装

cd ～/baxter_ws
catkin_make
catkin_make install

4 安装SDK依赖

sudo apt-get update
sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-kinetic-control-msgs ros-kinetic-joystick-drivers

5 安装Bzxter SDK

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

6 刷新ROS Setup

 source /opt/ros/kinetic/setup.bash

7 编译安装

$ cd ~/baxter_ws
$ catkin_make
$ catkin_make install

8 下载baxter.sh脚本

$ wget https://github.com/RethinkRobotics/baxter/raw/master/baxter.sh
$ chmod u+x baxter.sh

9 修改baxter.sh11脚本

$ cd ~/baxter_ws
$ gedit baxter.sh
baxter_hostname="baxter_hostname.local"
your_ip="192.168.XXX.XXX"
ros_version="kinetic" 默认是indigo

10 初始化SDK环境

$ cd ~/baxter_ws
$ . baxter.sh

11 查看环境

env | grep ROS

12 设置环境，确保找到baxter相关包

source ~/baxter_ws/devel/setup.bash 加入到~/.bashrc中