1 安裝REEM-C
- 新建工作區(qū)
mkdir -p ~/reemc-sim_ws/src && cd ~/reemc-sim_ws/src
catkin_init_workspace
- 測(cè)試工作區(qū)安裝情況
wstool init .
wstool merge
https://raw.github.com/pal-robotics/pal-ros-pkg/master/reemc-sim-indigo.rosinstall
- 檢測(cè)REEM-C功能包
wstool update -j10
- 安裝依賴
cd ..
rosdep install --from-paths src --ignore-src --rosdistro indigo -y
2 編譯REEM-C程序
catkin_make
. ~/reemc-sim_ws/devel/setup.bash
- make 過程中出現(xiàn)
/opt/ros/indigo/lib/libmoveit_planning_scene_monitor.so: undefined reference to ros::WallTimer::setPeriod(ros::WallDuration const&, bool)'
- 解決方案:
sudo apt-get dist-upgrade
3 啟動(dòng)仿真平臺(tái)
roslaunch reemc_gazebo reemc_empty_world.launch
需要等待幾分鐘,出現(xiàn)機(jī)器人界面
4 開啟預(yù)定動(dòng)作
- 開啟仿真平臺(tái)后殃姓,開啟關(guān)節(jié)控制器
- 新建Terminal
. ~/reemc-sim_ws/devel/setup.bash
roslaunch reemc_controller_configuration joint_trajectory_controllers.launch
- 開啟動(dòng)作播放
rosrun actionlib axclient.py /play_motion
- 在新出來界面的Goal中
motion_name: 'squat'
skip_planning: True
priority: 0
點(diǎn)send goal