# 5.3. 安裝 ROS 套件

為 OpenMANIPULATOR-X 機器手臂安裝相依套件。在 terminal 終端窗口中運行以下命令。

{% hint style="info" %}
備註： terminal 終端視窗可以通過螢幕左上角的 Ubuntu 搜索圖標找到。打開終端視窗的快捷鍵是 Ctrl + Alt + t。
{% endhint %}

```
$ sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-industrial-core
```

```
$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_simulations.git
$ git clone https://github.com/ROBOTIS-GIT/robotis_manipulator.git
$ cd ~/catkin_ws && catkin_make
```

如果 catkin\_make 命令已完成且沒有任何錯誤，就完成使用 OpenMANIPULATOR-X的所有準備工作。
