A description on how to setup the kinova robotics ROS on a Ubuntu 14.04 system
The images are available here. Use the 64 Bit Version to avoide compatibility issues. This tutorial should also work with an existing setup but has only been tested on a fresh install.
The commands are here
Please note the following:
- In step 1.4 use
sudo apt-get install ros-indigo-desktop-fullto get most of the required packages - Make sure you follow the steps until 1.7 and run the appropriate commands
We need some tools to run the installation process. Run the following commands:
sudo apt-get install git
We also need some ROS dependencies:
sudo apt-get install ros-indigo-moveit ros-indigo-trac-ik ros-indigo-opencv3
We will now setup the kinova ros environment.
First run this:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/Kinovarobotics/kinova-ros.git kinova-ros
cd ~/catkin_ws
catkin_make
Finally add the repo to your environment
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
To finally run simulation of the robot use this:
roslaunch j2n6s300_moveit_config j2n6s300_virtual_robot_demo.launch
if a real robot is connected to the computer via USB, you can bring up the controll via the following steps. First a one time setup is required:
sudo cp ~/catkin_ws/src/kinova-ros/kinova_driver/udev/10-kinova-arm.rules /etc/udev/rules.d/
then each time you have to run two commands in seperate shells:
roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2n6s300
and in the other shell
roslaunch j2n6s300_moveit_config j2n6s300_demo.launch