TB3&OpenMANIPULATOR-X入门教程-4.准备工作

2024-02-21/ 1296 次浏览/ TB3&OpenMANIPULATOR-X

OpenCR刷固件

注意：如果您买的是整机（帮忙调试好）的产品，出厂默认刷好此固件，可以跳过刷固件步骤。

cd opencr_update

sudo ./update.sh /dev/ttyACM0 om_with_tb3.opencr

具体详细步骤，请参考：这里

设置环境变量

cd ~

vim .bashrc

#更改机器人模型

export TURTLEBOT3_MODEL=waffle_pi

export LDS_MODEL=LDS-02

配置IP

ROS_HOSTNAME是机器人本体的IP地址

ROS_MASTER_URI是远程PC（虚拟机）的IP地址

echo "export ROS_MASTER_URI=http://192.168.11.116:11311" >> ~/.bashrc

echo "export ROS_HOSTNAME=192.168.11.101" >> ~/.bashrc

Source生效

source .bashrc

安装依赖

sudo apt-get install ros-$ROS_DISTRO-ros-controllers ros-$ROS_DISTRO-gazebo* ros-$ROS_DISTRO-moveit* ros-$ROS_DISTRO-industrial-core -y

sudo apt-get install ros-$ROS_DISTRO-moveit

sudo apt-get install ros-$ROS_DISTRO-dynamixel-sdk ros-$ROS_DISTRO-dynamixel-workbench*

安装机械臂ROS功能包（Melodic）

cd ~/catkin_ws/src/

git clone https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3_manipulation_simulations.git

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

sudo apt install ros-melodic-ros-control* && ros-melodic-control* && ros-melodic-moveit*

cd ~/catkin_ws && catkin_make

安装机械臂ROS功能包（Noetic）

cd ~/catkin_ws/src/

git clone http://mirror.ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git

git clone http://mirror.ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_manipulation_simulations.git

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

git clone -b noetic-devel https://github.com/machinekoder/ar_track_alvar.git

sudo apt install ros-noetic-ros-control* && ros-noetic-control* && ros-noetic-moveit*

cd ~/catkin_ws && catkin_make

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