OpenMANIPULATOR-X入门教程-5.安装OpenMANIPULATOR-X程序包

以下命令将下载 OpenMANIPULATOR-X 程序包源代码并生成它们

对于Kinetic

安装依赖包

source ~/.bashrc

sudo apt-get install ros-kinetic-ros-controllers

sudo apt-get install ros-kinetic-gazebo*

sudo apt-get install ros-kinetic-moveit*

sudo apt-get install ros-kinetic-industrial-core

sudo apt-get install ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbench*

sudo apt-get install ros-kinetic-robotis-manipulator

安装功能包Kinetic

cd ~/catkin_ws/src/

git clone -b kinetic-devel http://ghproxy.com/https://github.com/ROBOTIS-GIT/open_manipulator.git

git clone -b kinetic-devel http://ghproxy.com/https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git

git clone -b kinetic-devel http://ghproxy.com/https://github.com/ROBOTIS-GIT/open_manipulator_simulations.git

git clone http://ghproxy.com/https://github.com/ROBOTIS-GIT/open_manipulator_dependencies.git

cd ~/catkin_ws && catkin_make

对于Noetic

安装依赖包

source ~/.bashrc

sudo apt-get install ros-noetic-ros-controllers ros-noetic-gazebo* ros-noetic-moveit* ros-noetic-industrial-core

sudo apt install ros-noetic-dynamixel-sdk ros-noetic-dynamixel-workbench*

sudo apt install ros-noetic-robotis-manipulator

安装ROS功能包

cd ~/catkin_ws/src/

git clone -b noetic-devel http://mirror.ghproxy.com/https://github.com/ROBOTIS-GIT/open_manipulator.git

git clone -b noetic-devel http://mirror.ghproxy.com/https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git

git clone -b noetic-devel http://mirror.ghproxy.com/https://github.com/ROBOTIS-GIT/open_manipulator_simulations.git

git clone http://mirror.ghproxy.com/https://github.com/ROBOTIS-GIT/open_manipulator_dependencies.git

cd ~/catkin_ws && catkin_make

USB 延迟计时器设置

在Linux（Ubuntu平台）环境中，USB延迟时间默认设置为16毫秒。按照以下步骤将DYNAMIXEL与通过USB连接PC之间的通信延迟时间设置为最低值 （1ms）。

打开终端窗口并运行roscore。

roscore

在 roscore 运行时，打开一个新的终端窗口并输入以下命令以设置 USB 延迟时间。以下命令会将 USB 延迟设置为 1毫秒.

rosrun open_manipulator_controller create_udev_rules

提示：如果要查看当前延迟，请在终端中输入以下命令。

cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer