Baxter机器人---安装SDK包（二）

原创博文，转载请标明出处：--周学伟http://www.cnblogs.com/zxouxuewei/

 

一.frist baxter robot workspace

root@zxwubuntu-Aspire-V3-572G:~# mkdir -p ~/ros_ws/src
# ros_ws (short for ROS Workspace)

二.Source ROS and Build

1.Source ROS Setup

root@zxwubuntu-Aspire-V3-572G:~# source /opt/ros/indigo/setup.bash

2.Build and Install

root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws
root@zxwubuntu-Aspire-V3-572G:~# catkin_make
root@zxwubuntu-Aspire-V3-572G:~# catkin_make install

三.Install Baxter SDK Dependencies

root@zxwubuntu-Aspire-V3-572G:~# sudo apt-get update
root@zxwubuntu-Aspire-V3-572G:~# sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-indigo-control-msgs ros-indigo-joystick-drivers

 四.Install Baxter Research Robot SDK

1.Install Baxter SDK

root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws/src
root@zxwubuntu-Aspire-V3-572G:~# wstool init .
root@zxwubuntu-Aspire-V3-572G:~# wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter/master/baxter_sdk.rosinstall
root@zxwubuntu-Aspire-V3-572G:~# wstool update

 2.Source ROS Setup

root@zxwubuntu-Aspire-V3-572G:~# source /opt/ros/indigo/setup.bash

 3.Build and Install

root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws
root@zxwubuntu-Aspire-V3-572G:~# catkin_make
root@zxwubuntu-Aspire-V3-572G:~# catkin_make install

 五.Configure Baxter Communication/ROS Workspace

1.Download the baxter.sh script

root@zxwubuntu-Aspire-V3-572G:~# wget https://github.com/RethinkRobotics/baxter/raw/master/baxter.sh
root@zxwubuntu-Aspire-V3-572G:~# chmod u+x baxter.sh

 2.Customize the baxter.sh script

root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws
root@zxwubuntu-Aspire-V3-572G:~# gedit baxter.sh

 3.Edit the 'baxter_hostname' field

baxter_hostname="baxter_hostname.local"
your_ip="192.168.XXX.XXX"
ros_version="indigo

 4.Initialize your SDK environment

root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws
root@zxwubuntu-Aspire-V3-572G:~# . baxter.sh

 六. Verify Environment

$ env | grep ROS