Environment configuration of ROS Aubo manipulator

Environment configuration

ubuntu16.04+ROS Kinetic , Note that different versions of the compilation process may report different errors .

install moveit-core

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

install industrial

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

download AUBO Of ROS Source code

In the following command catkin_work Is the name of the workspace , Self named , Other formats must be consistent .

mkdir -p ~/catkin_work/src && cd ~/catkin_work/src # Must be placed in the working directory src In the folder 
git clone https://github.com/lg609/aubo_robot.git # If there is a network problem, you can try again many times , It should be successful 

compile

Return to the previous directory

cd ..

compile

catkin_make

The compiler may report an error here

If an error is reported, execute the command sudo apt-get install ros-kinetic-moveit*, Rerun the compile command .

demo Simulation

Workspace initialization

source ~/catkin_work/devel/setup.bash

If this step is not run, the following errors may occur

Use RViz function demo Simulation

roslaunch aubo_i5_moveit_config demo.launch