Baxter学习笔记4-Baxter仿真篇

参考此连接安装

0 : Install

prerequisites

sudo apt-get install gazebo2 
                     ros-indigo-qt-build 
                     ros-indigo-driver-common 
                     ros-indigo-gazebo-ros-pkgs 
                     ros-indigo-ros-control 
                     ros-indigo-control-toolbox 
                     ros-indigo-realtime-tools 
                     ros-indigo-ros-controllers 
                     ros-indigo-xacro python-wstool 
                     ros-indigo-tf-conversions 
                     ros-indigo-kdl-parser

Install baxter_simulator

$ cd ~/catkin_ws/src
$ wstool init .
$ wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter_simulator/master/baxter_simulator.rosinstall
$ wstool update

Build Source

$ source /opt/ros/indigo/setup.bash
$ cd ~/ros_ws
$ catkin_make
$ catkin_make install

1: Edit your_ip value in baxter.sh

2: 验证自己的gazebo是否安装好，在terminal中输入gazebo或者rosrun gazebo_ros gazebo 这里存在一个坑，可能由于自己的gazebo版本更新无法加载model。具体的参考这里。

http://answers.ros.org/question/199401/problem-with-indigo-and-gazebo-22/

1 : 连接仿真平台

at the [baxter - http://localhost:11311] 
./baxter.sh sim 
roslaunch baxter_gazebo baxter_world.launch

2 : 连接关节映射（需要后续控制的话）

in the baxter.sh's floder   
检查本机IP，注意修改baxter.sh 内的 your_ip
./baxter.sh sim
rosrun baxter_tools enable_robot -e
rosrun baxter_tools enable_robot -s
rosrun baxter_interface joint_trajectory_action_server.py

3 : 打开规划实例（需要调用moveit规划包的话）

in the baxter.sh's folder   
./baxter.sh sim 
roslaunch baxter_moveit_config demo_baxter.launch  for the moveit_rviz
'or' roslaunch baxter_moveit_config move_group.launch  just for motion planning