1 安装REEM-C
- 新建工作区
mkdir -p ~/reemc-sim_ws/src && cd ~/reemc-sim_ws/src
catkin_init_workspace
- 测试工作区安装情况
wstool init .
wstool merge
https://raw.github.com/pal-robotics/pal-ros-pkg/master/reemc-sim-indigo.rosinstall
- 检测REEM-C功能包
wstool update -j10
- 安装依赖
cd ..
rosdep install --from-paths src --ignore-src --rosdistro indigo -y
2 编译REEM-C程序
catkin_make
. ~/reemc-sim_ws/devel/setup.bash
- make 过程中出现
/opt/ros/indigo/lib/libmoveit_planning_scene_monitor.so: undefined reference to ros::WallTimer::setPeriod(ros::WallDuration const&, bool)'
- 解决方案：
sudo apt-get dist-upgrade
3 启动仿真平台
roslaunch reemc_gazebo reemc_empty_world.launch
需要等待几分钟，出现机器人界面
4 开启预定动作
- 开启仿真平台后，开启关节控制器
- 新建Terminal
. ~/reemc-sim_ws/devel/setup.bash
roslaunch reemc_controller_configuration joint_trajectory_controllers.launch
- 开启动作播放
rosrun actionlib axclient.py /play_motion
- 在新出来界面的Goal中
motion_name: 'squat'
skip_planning: True
priority: 0
点send goal
