androidstudio4.1.1 build model卡主_Ubuntu 16.04 + ROS Kinetic + Baxter + Moveit!

When installing Moveit! and Baxter simulator on Ubuntu 16.04 (ROS kinetic), there will be some errors that can waste you a lot of time. Therefore, a detailed introduction is recorded here.

Steps for installation:

1 Install ROS kinetic:

In this section, the standard procedure should be followed from this link:

kinetic/Installation/Ubuntu - ROS Wiki​wiki.ros.org

Note: In my case, ~/ros_ws is the ROS workspace, and all source codes are stored in the src/ sub-directory.

2 Do not use catkin_make. Use catkin build from python-catkin-tools instead:

apt-get install python-wstool python-catkin-tools clang-format-3.9

3 upgrade your software pkgs.

rosdep update
sudo apt-get update
sudo apt-get dist-upgrade

4 Download source code of Baxter SDK, Moveit! and OMPL and install the dependencies

# source code of Moveit!
cd ~/ros_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall
wstool update -t src
gedit moveit/moveit_planners/ompl/CMakeLists.txt

Locate the include_directories directive and exchange the two variables ${OMPL_INCLUDE_DIRS} and ${catkin_INCLUDE_DIRS},
so that ${OMPL_INCLUDE_DIRS} is added before ${catkin_INCLUDE_DIRS}.

# source code of Baxter SDK and simulator
cd src
wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter_simulator/master/baxter_simulator.rosinstall
wstool update

# source code of ompl
git clone -b kinetic-devel https://github.com/ompl/ompl.git
# for ROS build
cd ompl
wget https://raw.githubusercontent.com/ros-gbp/ompl-release/debian/kinetic/xenial/ompl/package.xml

# install dependencies
cd ~/ros_ws
rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}
catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release

In my case, ros-kinetic-moveit-resources is not installed automatically. It needs to be installed manually. Otherwize, an error will appear during catkin build:

Errors << moveit_core:make /home/zhb/ros_ws/logs/moveit_core/build.make.002.log
In file included from /home/zhb/ros_ws/src/moveit/moveit_core/utils/src/robot_model_test_utils.cpp:42:0:
/home/zhb/ros_ws/src/moveit/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h:48:37: fatal error: moveit_resources/config.h: No such file or directory
compilation terminated.
make[2]: *** [utils/CMakeFiles/moveit_test_utils.dir/src/robot_model_test_utils.cpp.o] Error 1
make[1]: *** [utils/CMakeFiles/moveit_test_utils.dir/all] Error 2
make: *** [all] Error 2

Another error here is that c++11 is required for building of baxter_gazebo pkg. Add this line to baxter_gazebo/CMakeLists.txt

add_compile_options(-std=c++11)

5 Run catkin build and wait.

6 Install MongoDB and FCL (OMPL is already installed)

Dependencies Source Install | MoveIt!​moveit.ros.org

7 Install moveit_robots (baxter_moveit_config is included)

cd ~/ros_ws/src
git clone https://github.com/ros-planning/moveit_robots.git
catkin build

补充说明

1 在VMWARE虚拟机装ROS的话，gazebo启动可能会出现错误

解决方案：

gedit ~/.bashrc

加入下面一行

export SVGA_VGPU10=0

2 Gazebo启动时，会自动下载在线模型。但是由于内置服务器无法连接，所以会无限卡机。

解决方案：

从

Index of /​models.gazebosim.org

把模型全部下载下来，放到 ~/.gazebo/models文件夹下