ROS机器人程序设计——原书第2版(Learning_ROS_for_Robotics_Programming_2nd_edition)

https://github.com/AaronMR/Learning_ROS_for_Robotics_Programming_2nd_edition/tree/indigo-devel

mkdir -p ~/rosbook2_ws/src
cd ~/rosbook2_ws/src
cd ..
catkin_make
source ~/rosbook2_ws/devel/setup.bash

cd src
git clone https://github.com/AaronMR/Learning_ROS_for_Robotics_Programming_2nd_edition.git

roslaunch rosbook_arm_gazebo rosbook_arm_grasping_world.launch
roslaunch rosbook_arm_moveit_config moveit_rviz.launch config:=true
roslaunch rosbook_arm_pick_and_place grasp_generator_server.launch
roslaunch rosbook_arm_pick_and_place pick_and_place.py

编译出错

sudo apt-get update
sudo -H apt-get install -y ros-indigo-moveit-simple-grasps
sudo -H apt-get install -y ros-indigo-play-motion

moveit_simple_grasps功能包中抓握生成服务器源码：

https://github.com/davetcoleman/moveit_simple_grasps/tree/indigo-devel

wstool set moveit_simple_grasps --git https://github.com/davetcoleman/moveit_simple_grasps.git -v indigo-devel
wstool up moveit_simple_grasps

删除源码安装

sudo apt-get -qq remove ros-indigo-moveit-simple-grasps