Gazebo simulation of a robot arm picking up a ball and dropping it into a bucket
Installation:
- Install anaconda3
- Update your C++ compiler to latest version (e.g. glibc)
- Create anaconda package with python=3.8
- Install gcc_linux-64 version 11.1.0 through conda-forge
- Follow installation instructions for ros-noetic
- Git clone arbotix_ros and pincher_arm repositories into catkin_ws/src
- Change device port number in arbotix.py
- (From catkin_ws directory now) rosdep install --from-paths src --ignore-src -r -y
- catkin_make
- Add ROS_HOSTNAME and ROS_MASTER_URI env variables to .bashrc
Running The Simulation:
- Open another terminal window and run roscore
- export ROS_PACKAGE_PATH=/home/myusername/catkin_ws/src:$ROS_PACKAGE_PATH
- rosparam set use_sim_time true
Links: