1安装依赖
sudo apt-get install gazebo7 ros-kinetic-qt-build ros-kinetic-driver-common ros-kinetic-gazebo-ros-control ros-kinetic-gazebo-ros-pkgs ros-kinetic-ros-control ros-kinetic-control-toolbox ros-kinetic-realtime-tools ros-kinetic-ros-controllers ros-kinetic-xacro python-wstool ros-kinetic-tf-conversions ros-kinetic-kdl-parser
2 下载软件包
$ cd ~/baxter_ws/src
$ wstool init .
$ wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter_simulator/master/baxter_simulator.rosinstall
$ wstool update
3 编译
$ source /opt/ros/kinetic/setup.bash
$ CD〜/ baxter_ws
$ catkin_make
4 模拟
roslaunch baxter_gazebo baxter_world.launch
5 问题。如遇到
[ INFO] [1400513321.531488283, 34.216000000]: Simulator is loaded and started successfully 模拟器已加载并成功启动
[ INFO] [1400513321.535040726, 34.219000000]: Robot is disabled 机器人已禁用
[ INFO] [1400513321.535125386, 34.220000000]: Gravity compensation was turned off 重力补偿已关闭
可使用 enable_robot 脚本设置如下
To Enable the robot:
$ rosrun baxter_tools enable_robot.py -e
To Disable the robot:
$ rosrun baxter_tools enable_robot.py -d
6 使用键盘控制案例
$ rosrun baxter_examples joint_position_keyboard.py
