Mobile Aloha:WidowX-250s(6DOF)机械臂教程.安装ROS和功能包(包含ros1 - noetic的安装 )

2024-01-09 18:12:42

首先进入到aloha的conda环境:

conda activate aloha

在安装了ros1 noetic 的基础上,可以用鱼香ROS一键安装:

打开鱼香ROS的网址,使用“一键安装系列”,网址链接:

https://fishros.org.cn/forum/topic/20/%E5%B0%8F%E9%B1%BC%E7%9A%84%E4%B8%80%E9%94%AE%E5%AE%89%E8%A3%85%E7%B3%BB%E5%88%97?lang=zh-CN

在liunx的终端输入:

wget http://fishros.com/install -O fishros && . fishros

随后参考以下链接进行WidowX-250s(6DOF)机械臂的xsarm_amd64_install.sh功能包安装:

http://rosrobot.cn/?id=163

sudo apt install curl

curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/main/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh' > xsarm_amd64_install.sh

chmod +x xsarm_amd64_install.sh

./xsarm_amd64_install.sh -d noetic

-----------------------------------------------------------------------------------------------------------

也可以前往github上来下载资源包,网址链接:

https://github.com/Interbotix/interbotix_ros_manipulators/tree/main

下载解压后找到对应路径下的文件

?interbotix_ros_manipulators /?interbotix_ros_xsarms / install / amd64 / xsarm_amd64_install.sh

保存在home目录下:

有了xsarm_amd64_install.sh这个文件,继续在liunx的终端输入:

chmod +x xsarm_amd64_install.sh

./xsarm_amd64_install.sh -d noetic

依次输入3次yes

------------------------------------------------------------------------------------------------------------

!!!在安装过程中,遇到了一些问题,汇总如下:

问题1

Invoking "cmake" failed
[ERROR] Failed to build Interbotix Arm ROS Packages.
[ERROR] Interbotix Installation Failed!

解决方案:

pip install empy==3.3.4

随后删除xsarm_amd64_install.sh编译生成的home目录下的interbotix_ws这个文件,重新进行:

chmod +x xsarm_amd64_install.sh

./xsarm_amd64_install.sh -d noetic

问题2

ImportError: "from catkin_pkg.package import parse_package" failed: No module named 'catkin_pkg'
Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.

解决方案:

pip install catkin_pkg

随后删除xsarm_amd64_install.sh编译生成的home目录下的interbotix_ws这个文件,重新进行:

chmod +x xsarm_amd64_install.sh

./xsarm_amd64_install.sh -d noetic

问题3

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
? Could not find a package configuration file provided by "dynamixel_sdk"
? with any of the following names:

??? dynamixel_sdkConfig.cmake
??? dynamixel_sdk-config.cmake

? Add the installation prefix of "dynamixel_sdk" to CMAKE_PREFIX_PATH or set
? "dynamixel_sdk_DIR" to a directory containing one of the above files.? If
? "dynamixel_sdk" provides a separate development package or SDK, be sure it
? has been installed.

解决方案:

sudo rosdep init

rosdep update

随后删除xsarm_amd64_install.sh编译生成的home目录下的interbotix_ws这个文件,重新进行:

chmod +x xsarm_amd64_install.sh

./xsarm_amd64_install.sh -d noetic

直到linux的终端输出显示如下才算成功:

Interbotix Arm ROS Packages built successfully!
Setting up Environment Variables...
Installation complete, took 129 seconds in total.
NOTE: Remember to reboot the computer before using the robot!

备注:此博客为Mobile Aloha该项目而创建,期间调试代码时遇到一个报错:

wrapt的最新版本过高(默认安装的版本是1.16.0),需要安装以下版本号:

pip install wrapt==1.11.2 ## or higher

还有一个需要用到的包是pyrealsense2

要安装 Intel RealSense D400 系列摄像头的 Python 绑定库 pyrealsense2,您可以使用 pip 命令进行安装。以下是在终端中执行安装的步骤:

运行以下命令来安装 pyrealsense2:

pip install pyrealsense2

如果您使用的是 Python3,则可以使用以下命令:

pip3 install pyrealsense2

文章来源:https://blog.csdn.net/qq_54900679/article/details/135454373
本文来自互联网用户投稿,该文观点仅代表作者本人,不代表本站立场。本站仅提供信息存储空间服务,不拥有所有权,不承担相关法律责任。