Kinova SDK installation
1. Enter Kinova official website: Together in robotics | Kinova
2. Place the mouse on Products at the top of the page , and then select according to the model of the robotic arm. Here I click on the Gen2 robots page and slide down until GEN2 SOFTWARE
3. Click View all and scroll down on the new page to find the version SDK that suits you
4. According to my robotic arm, the version I want to download is the first one: Gen2 SDK v1.5.1
5. After the download is complete, switch to the download directory and decompress the download package (although the official version is ubuntu16.04, it is also possible to install it in ubuntu18.04 version, and it is feasible to test it yourself!)
6. Open the terminal in the download directory (I moved to another directory here) or open the terminal and then cd into the download directory, and then enter the following command to install
sudo bash installSDK64.sh Just install it in the next step, generally it should be installed in the opt directory
7. Let's take a look at the simple use of SDK DevelopmentCenter GUI
cd /opt/JACO-SDK/GUI/
sudo ./DevelopmentCenter.sh
So far, the SDK installation is successful! Configure the ROS driver below
Kinova-ros installation
8. Create a workspace
mkdir -p ~/kinova_ws/src
9. Download kinova-ros
cd ~/kinova_ws/src
git clone https://github.com/Kinovarobotics/kinova-ros.git kinova-ros
10. Compile workspace
cd ~/kinova_ws
catkin_make11. Update environment variables (can also be added directly to the .bashrc file)
source ~/kinova_ws/devel/setup.bash