【ROS】ROS-indigo机械臂包安装

1 工作空间目录下apt安装依赖

第一次配置完的时候,因为Ubuntu版本不是14.04.1或者14.04.2,导致Ubuntu不兼容ROS组件而运行出错。

这两个版本是ROS开发人员当年用的Ubuntu版本。


运行以下命令,安装大多数依赖库

sudo apt-get install ros-indigo-moveit

rosdep install --from-paths src -iy


我们使用的机械臂

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

解压在ROS工作空间下


2 安装两个未检测到的依赖库

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


解压

catkin_make


安装完成

之后学习moveit官方文档、以及rviz、gazebo、机械臂模型描述文件。


____________________________________________________________________

以下是moveit依赖的源码地址


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


__________________________________

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

官方下载链接

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 -

安装命令

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



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