[TIAGo模擬實作] 單元1. 超簡單的環境建置

<source : greatway9999>

步驟1. 新建一個工作(開發)空間

mkdir ~/tiago_public_ws
cd ~/tiago_public_ws

 

步驟2.安裝Tiago

Download the file tiago_public.rosinstall. Copy the rosinstall file in ~/tiago_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:

依據官方教學文件內容，請先在tiago_public.rosinstall下載安裝文件，再執行以下指令進行安裝。要注意的是，本次實作是以melodic版本進行，因此下載的為melodic版的安裝檔，請注意檔名和官方教學檔不同。請將安裝檔放到"~tiago_public_ws"路徑中，再輸入更新後的指令 : 

rosinstall src /opt/ros/melodic tiago_public.rosinstall

步驟3. 設定並安裝ROS相依套件

sudo rosdep init
rosdep update

rosdep install --from-paths src --ignore-src --rosdistro melodic --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit_node sensor_to_cloud hokuyo_node libdw-dev python-graphitesend-pip python-statsd pal_filters pal_vo_server pal_usb_utils pal_pcl pal_pcl_points_throttle_and_filter pal_karto pal_local_joint_control camera_calibration_files pal_startup_msgs pal-orbbec-openni2 dummy_actuators_manager pal_local_planner gravity_compensation_controller current_limit_controller dynamic_footprint dynamixel_cpp tf_lookup opencv3"

步驟4.編譯

source /opt/ros/melodic/setup.bash
catkin build -DCATKIN_ENABLE_TESTING=0

步驟5. 更新環境變量

source ./devel/setup.bash

步驟6.啟動Launch檔進行測試

roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=steel

打開此launch檔後，你會在Gazebo畫面中看到有著平行夾爪的機器人。

或是打開另一個launch檔，在Gazebo畫面中看到有5隻手指頭的機器人。

roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=steel

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參考資料 :

ROS.org : Installation/TiagoSimulation