【ROS】ROS-indigo機械臂包安裝

1 工作空間目錄下apt安裝依賴

第一次配置完的時候，因爲Ubuntu版本不是14.04.1或者14.04.2，導致Ubuntu不兼容ROS組件而運行出錯。

這兩個版本是ROS開發人員當年用的Ubuntu版本。

運行以下命令，安裝大多數依賴庫

sudo apt-get install ros-indigo-moveit

rosdep install --from-paths src -iy

我們使用的機械臂

https://github.com/turtlebot/turtlebot_arm/tree/indigo-devel

解壓在ROS工作空間下

2 安裝兩個未檢測到的依賴庫

moveit_resources

https://github.com/ros-gbp/moveit_resources-release/tree/rpm/indigo/heisenbug/moveit_resources

shape_tools

https://github.com/ros-planning/shape_tools

解壓

catkin_make

安裝完成

之後學習moveit官方文檔、以及rviz、gazebo、機械臂模型描述文件。

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以下是moveit依賴的源碼地址

moveit_ros_planning

http://wiki.ros.org/moveit_ros_planning

moveit_msgs

https://github.com/ros-planning/moveit_msgs

moveit_simple_grasps

https://github.com/davetcoleman/moveit_simple_grasps/tree/indigo-devel

object_recognition_msgs-master

https://github.com/wg-perception/object_recognition_msgs

octomap_msgs

https://github.com/OctoMap/octomap_msgs/tree/indigo-devel

srdfdom

https://github.com/ros-planning/srdfdom/tree/indigo-devel

urdf_parser_py

https://github.com/ros/urdf_parser_py/tree/melodic-devel

https://github.com/ros/urdf_parser_py/commits/indigo-devel

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moveit_resources

https://github.com/ros-gbp/moveit_resources-release/tree/rpm/indigo/heisenbug/moveit_resources

shape_tools

https://github.com/ros-planning/shape_tools

FCL

sudo apt-get install ros-indigo-fcl

GLUT

sudo apt-get install build-essentialsudo 

apt-get install libgl1-mesa-devsudo 

apt-get install libglu1-mesa-devsudo 

apt-get install libglut-dev  

sudo apt-get install freeglut3-dev

OMPL

官方下載鏈接

源

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

安裝命令

sudo apt-get update
sudo apt-get install ros-`rosversion -d`-ompl

Warehouse_ros

https://github.com/ros-planning/warehouse_ros

controller_manager-----ros_control

https://github.com/ros-controls/ros_control/tree/indigo-devel

realtime_tools

https://github.com/ros-controls/realtime_tools/branches

control_toolbox

https://github.com/ros-controls/control_toolbox/tree/indigo-devel

moveit_visual_tools

https://github.com/davetcoleman/moveit_visual_tools/tree/indigo-devel

rviz_visual_tools

https://github.com/PickNikRobotics/rviz_visual_tools/tree/indigo-devel

graph_msgs

https://github.com/davetcoleman/graph_msgs/tree/indigo-devel

how-to-install-mongodb-on-ubuntu-16-04

http://www.tutorialspoint.com/articles/how-to-install-mongodb-on-ubuntu-16-04