环境搭建

当前教程基于ROS indigo

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ROS环境搭建

设置源

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

设置密钥

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

更新源

sudo apt-get update
sudo apt-get upgrade

安装ROS

sudo apt-get install ros-indigo-desktop-full

初始化rosdep

sudo rosdep init

更新rosdep

rosdep update

设置环境变量

echo source /opt/ros/indigo/setup.bash >> ~/.bashrc

HIROP环境搭建

创建工作区

$ cd ~; mkdir catkin_ws
$ cd catkin_ws; mkdir src
$ catkin_make
$ echo source ~/catkin_ws/devel/setup.bash >> ~/.bashrc

下载源码

sudo apt-get install git
cd ~/catkin_ws/src
git clone https://github.com/HSRobot/hsr_irp.git

下载依赖项

sudo apt-get install ros-indigo-industrial-core
sudo apt-get install ros-indigo-moveit-full
sudo apt-get install ros-indigo-serial
sudo apt-get install ros-indigo-gazebo-ros-control
sudo apt-get install ros-indigo-joint-trajectory-controller 
sudo apt-get install ros-indigo-joint-state-controller
sudo apt-get install ros-indigo-effort-controllers
sudo apt-get install ros-indigo-position-controllers 

编译

catkin_make