先装一下国内的rosdepc:
sudo pip install rosdepc
sudo rosdepc init
rosdepc update
安装ros插件:
rosdep install --from-paths src --ignore-src --rosdistro noetic
安装ur机械臂驱动
cd ~/catkin_ws/
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot
git clone https://github.com/ros-industrial/ur_msgs.git src/ur_msgs
rosdepc install --from-paths src --ignore-src -y
catkin_make:
catkin_make
source ./devel/setup.bash
测试一下:
roslaunch ur3_moveit_config demo.launch
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