8.1.2.5. 安裝用於 OP3 的 ROS 套件

• face_detecting 人臉偵測

  • 使用於視覺 demo 的 ROS 套件

  $ cd ~/catkin_ws/src
  $ git clone https://github.com/ROBOTIS-GIT/face_detection.git
  $ cd ~/catkin_ws
  $ catkin_make

• robot_upstart

  • ROS 套件可自動執行 ROBOTIS-OP3 的基本 demo

  • 安裝

    • auto startup 自啟動設定

 $ sudo apt install ros-kinetic-robot-upstart  

• usb_cam

  • USB 攝影機的 ROS 套件

  $ cd ~/catkin_ws/src
  $ git clone https://github.com/bosch-ros-pkg/usb_cam.git
  $ cd ~/catkin_ws
  $ catkin_make
  $ sudo apt install v4l-utils

• qt_ros

  $ sudo apt install ros-kinetic-qt-ros

humanoid_navigation

• footstep planner 腳步規劃器套件

• 安裝先決條件的套件

$ sudo apt-get install ros-kinetic-map-server
$ sudo apt-get install ros-kinetic-humanoid-nav-msgs
$ sudo apt-get install ros-kinetic-nav-msgs
$ sudo apt-get install ros-kinetic-octomap
$ sudo apt-get install ros-kinetic-octomap-msgs
$ sudo apt-get install ros-kinetic-octomap-ros
$ sudo apt-get install ros-kinetic-octomap-server

• 從開源安裝程式庫

  • sbpl

    • 參考：https://github.com/sbpl/sbpl

• 安裝 humanoid_navigation

  $ cd ~/catkin_ws/src
  $ git clone https://github.com/ROBOTIS-GIT/humanoid_navigation.git
  $ cd ~/catkin_ws

• 安裝 rosbridge_server, web_video_server

  • web_setting_tool 的套件

$ sudo apt install ros-kinetic-rosbridge-server ros-kinetic-web-video-server