2023-07-24 Baxter ROS

Install ROS Kinetic

ROS Kinetic is compatible with Ubuntu Wily (15.10) and Ubuntu Xenial (16.04 LTS)

1. https://wiki.ros.org/kinetic/Installation/Ubuntu

2. https://sdk.rethinkrobotics.com/wiki/Simulator_Installation

Verify linux distro version

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cat /etc/*-release

Ubuntu 16.04.7 LTS

1.1 Install curl

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sudo apt-get update
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sudo apt-get upgrade

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sudo apt-get install curl

1.2. Setup your sources.list

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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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sudo sh -c 'echo "deb http://cz.archive.ubuntu.com/ubuntu xenial main universe" > /etc/apt/sources.list.d/ros-latest.list'

1.3. Set up your keys

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curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

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sudo apt-get update
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sudo apt-get upgrade

1.4. Installation

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sudo apt-get install ros-kinetic-desktop-full ros-kinetic-perception ros-kinetic-simulators

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sudo apt-get install python-wstool python-rosdep
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sudo apt-get install ros-kinetic-gazebo-ros-control
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sudo apt-get install ros-kinetic-effort-controllers
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sudo apt-get install ros-kinetic-ros-control
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sudo apt-get install ros-kinetic-gazebo-ros-control
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sudo apt-get install ros-kinetic-unique-identifier
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sudo apt-get install ros-kinetic-geographic-info
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sudo apt-get install ros-kinetic-laser-geometry
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sudo apt-get install ros-kinetic-tf-conversions
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sudo apt-get install ros-kinetic-tf2-geometry-msgs
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sudo apt-get install ros-kinetic-joy
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sudo apt-get install ros-kinetic-moveit
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sudo apt-get install ros-kinetic-rviz
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sudo apt-get install ros-kinetic-joint-state-controller
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sudo apt install rosbash
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Creating new workspace

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mkdir -p ~/ros_ws_py2/src
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cd ~/ros_ws_py2/src
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wstool init .

PIP3 installer

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curl -fsSL https://bootstrap.pypa.io/pip/3.5/get-pip.py | python3.5

Adding necessary packages

🔴 Important to use correct branch from GIT

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wstool merge https://raw.github.com/RethinkRobotics/baxter/master/baxter_sdk.rosinstall
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wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter_simulator/kinetic-devel/baxter_simulator.rosinstall
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wstool update

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source /opt/ros/kinetic/setup.bash
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cd ~/ros_ws_py2
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catkin_make
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catkin_make install
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cp ~/ros_ws_py2/src/baxter/baxter.sh ~/ros_ws_py2

check env variables