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一.frist baxter robot workspace
root@zxwubuntu-Aspire-V3-572G:~# mkdir -p ~/ros_ws/src # ros_ws (short for ROS Workspace)
二.Source ROS and Build
1.Source ROS Setup
root@zxwubuntu-Aspire-V3-572G:~# source /opt/ros/indigo/setup.bash
2.Build and Install
root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws root@zxwubuntu-Aspire-V3-572G:~# catkin_make root@zxwubuntu-Aspire-V3-572G:~# catkin_make install
三.Install Baxter SDK Dependencies
root@zxwubuntu-Aspire-V3-572G:~# sudo apt-get update root@zxwubuntu-Aspire-V3-572G:~# sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-indigo-control-msgs ros-indigo-joystick-drivers
四.Install Baxter Research Robot SDK
1.Install Baxter SDK
root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws/src root@zxwubuntu-Aspire-V3-572G:~# wstool init . root@zxwubuntu-Aspire-V3-572G:~# wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter/master/baxter_sdk.rosinstall root@zxwubuntu-Aspire-V3-572G:~# wstool update
2.Source ROS Setup
root@zxwubuntu-Aspire-V3-572G:~# source /opt/ros/indigo/setup.bash
3.Build and Install
root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws root@zxwubuntu-Aspire-V3-572G:~# catkin_make root@zxwubuntu-Aspire-V3-572G:~# catkin_make install
五.Configure Baxter Communication/ROS Workspace
1.Download the baxter.sh script
root@zxwubuntu-Aspire-V3-572G:~# wget https://github.com/RethinkRobotics/baxter/raw/master/baxter.sh root@zxwubuntu-Aspire-V3-572G:~# chmod u+x baxter.sh
2.Customize the baxter.sh script
root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws root@zxwubuntu-Aspire-V3-572G:~# gedit baxter.sh
3.Edit the 'baxter_hostname' field
baxter_hostname="baxter_hostname.local"
your_ip="192.168.XXX.XXX"
ros_version="indigo
4.Initialize your SDK environment
root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws root@zxwubuntu-Aspire-V3-572G:~# . baxter.sh
六. Verify Environment
$ env | grep ROS