(Robot_arm)robotxtest5_ws Robot demo 啟動範例

 #new the ros workspace [robotxtest5_ws] 

$mkdir robotxtest5_ws 

$cd robotxtest5_ws 

$mkdir src

$catkin build

# copy the (movit_robot_arm_sim) and (robot_arm_urdf) to src

$cp -rf movit_robot_arm_sim ~data/robotxtest5_ws/src/.

$cp -rf robot_arm_urdf ~data/robotxtest5_ws/src/.

#catkin mask  robotxtest5_ws 

$cd robotxtest5_ws

$catkin_mask

$source devel/setup.bash

$echo "source ~/data/test2_ws/devel/setup.bash" >> ~/.bashrc

$source ~/.bashrc

# new a terminal run roscore

$cd robotxtest5_ws

$source devel/setup.bash

$roscore

#new a terminal run roslaunch 

$cd robotxtest5_ws

$source devel/setup.bash

$roslaunch robot_arm_urdf gazebo.launch

#show the robot prj path list tree

$ tree

└── src

    ├── movit_robot_arm_sim

    │   ├── CMakeLists.txt

    │   ├── config

    │   │   ├── cartesian_limits.yaml

    │   │   ├── chomp_planning.yaml

    │   │   ├── fake_controllers.yaml

    │   │   ├── joint_limits.yaml

    │   │   ├── kinematics.yaml

    │   │   ├── new_ros_controllers.yaml

    │   │   ├── ompl_planning.yaml

    │   │   ├── robot_arm_urdf.srdf

    │   │   ├── ros_controllers.yaml

    │   │   └── sensors_3d.yaml

    │   ├── launch

    │   │   ├── chomp_planning_pipeline.launch.xml

    │   │   ├── default_warehouse_db.launch

    │   │   ├── demo_gazebo.launch

    │   │   ├── demo.launch

    │   │   ├── fake_moveit_controller_manager.launch.xml

    │   │   ├── full_robot_arm_sim.launch

    │   │   ├── gazebo.launch

    │   │   ├── joystick_control.launch

    │   │   ├── move_group.launch

    │   │   ├── moveit.rviz

    │   │   ├── moveit_rviz.launch

    │   │   ├── ompl_planning_pipeline.launch.xml

    │   │   ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml

    │   │   ├── planning_context.launch

    │   │   ├── planning_pipeline.launch.xml

    │   │   ├── robot_arm_urdf_moveit_controller_manager.launch.xml

    │   │   ├── robot_arm_urdf_moveit_sensor_manager.launch.xml

    │   │   ├── ros_controllers.launch

    │   │   ├── run_benchmark_ompl.launch

    │   │   ├── sensor_manager.launch.xml

    │   │   ├── setup_assistant.launch

    │   │   ├── trajectory_execution.launch.xml

    │   │   ├── warehouse.launch

    │   │   └── warehouse_settings.launch.xml

    │   ├── package.xml

    │   └── scripts

    │       ├── node_print_pose.py

    │       └── node_set_predefined_pose.py

    └── robot_arm_urdf

        ├── CMakeLists.txt

        ├── config

        │   ├── joint_names_robot_arm_urdf.yaml

        │   └── joint_trajectory_controller.yaml

        ├── export.log

        ├── launch

        │   ├── arm_urdf.launch

        │   ├── display.launch

        │   └── gazebo.launch

        ├── meshes

        │   ├── base_link.STL

        │   ├── link_1.STL

        │   ├── link_2.STL

        │   ├── link_3.STL

        │   ├── link_4.STL

        │   ├── link_5.STL

        │   ├── link_6.STL

        │   └── link_7.STL

        ├── package.xml

        └── urdf

            ├── robot_arm_urdf.csv

            └── robot_arm_urdf.urdf