安装前提：使用小鱼一键安装了 ros melodic 和 rosdepc
一键安装指令：
wget http://fishros.com/install -O fishros && . fishros
一、aubo package 安装
1.创建文件夹
mkdir -p ~/aubo_ws/src
2.进入src目录
cd ~/aubo_ws/src/
3.下载 ros package
git clone https://github.com/dashuaip/aubo_i10_ros_melodic.git
或
git clone https://gitee.com/dashuaip/aubo_i10_ros_melodic.git
4.安装依赖
sudo apt install ros-melodic-industrial-*
5.安装依赖
sudo apt install ros-melodic-rviz-*
6.安装依赖
sudo apt install ros-melodic-gazebo-*
7.安装依赖
sudo apt install ros-melodic-moveit-*
8.创建软链接
sudo ln -sf /usr/include/eigen3/Eigen/ /usr/include/Eigen
9.创建软链接
sudo ln -sf /usr/include/eigen3/unsupported/ /usr/include/unsupported
10.下载依赖库
wget http://archive.ubuntu.com/ubuntu/pool/main/p/protobuf/libprotobuf9v5_2.6.1-1.3_amd64.deb
11.安装依赖库
sudo dpkg -i libprotobuf9v5_2.6.1-1.3_amd64.deb
12.安装依赖
rosdepc install -y --from-paths . --ignore-src --rosdistro melodic -r
13.回到工作空间目录
cd ~/aubo_ws
14.编译，失败了就多输几次
catkin_make
或
catkin build
15.注意***处修改成自己的用户名
echo "source /home/***/aubo_ws/devel/setup.bash" >> ~/.bashrc
16.初始化
source ~/.bashrc
二、aubo robot 启动
1.rviz
想控制真实机械臂，就把 robot_ip 换成机械臂的IP地址
roslaunch aubo_i10_moveit_config moveit_planning_execution.launch robot_ip:=127.0.0.1
2.gazebo
使用之前先修复这个错误：https://blog.csdn.net/weixin_42237861/article/details/123975426?spm=1001.2014.3001.5502
roslaunch aubo_gazebo aubo_i10_gazebo_control.launch