ROS(indigo)当中的破事-安装运行

ROS下载慢

解决方法：

把/etc/apt/sources.list换成国内源：

#中科大
deb http://debian.ustc.edu.cn/ubuntu/ trusty main multiverse restricted universe
deb http://debian.ustc.edu.cn/ubuntu/ trusty-backports main multiverse restricted universe
deb http://debian.ustc.edu.cn/ubuntu/ trusty-proposed main multiverse restricted universe
deb http://debian.ustc.edu.cn/ubuntu/ trusty-security main multiverse restricted universe
deb http://debian.ustc.edu.cn/ubuntu/ trusty-updates main multiverse restricted universe
deb-src http://debian.ustc.edu.cn/ubuntu/ trusty main multiverse restricted universe
deb-src http://debian.ustc.edu.cn/ubuntu/ trusty-backports main multiverse restricted universe
deb-src http://debian.ustc.edu.cn/ubuntu/ trusty-proposed main multiverse restricted universe
deb-src http://debian.ustc.edu.cn/ubuntu/ trusty-security main multiverse restricted universe
deb-src http://debian.ustc.edu.cn/ubuntu/ trusty-updates main multiverse restricted universe
#清华
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-security main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-backports main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-proposed main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-security main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-backports main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-proposed main restricted universe multiverse
#阿里云
deb http://mirrors.aliyun.com/ubuntu/ trusty main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ trusty-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ trusty-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ trusty-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ trusty-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ trusty main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ trusty-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ trusty-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ trusty-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ trusty-backports main restricted universe multiverse

把sources.list.d/ros-latest.list也换成国内：

deb http://mirrors.ustc.edu.cn/ros/ubuntu/ trusty main
deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ trusty main

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moveit

解决方法：

sudo apt-get install ros-indigo-moveit-full

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hardware_interface

Could not find a package configuration file provided by
"hardware_interface" with any of the following names:

hardware_interfaceConfig.cmake
hardware_interface-config.cmake

解决方法：

sudo apt-get install ros-indigo-hector-*

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Error [gazebo.cc:220] Waited 11 seconds for namespaces. Giving up.

本地没有gazebo模型，所以上网找，gazebo 2.2自带的网站又是挂的，他找不到，所以报错。

解决方法：

在主目录创建~/.gazebo/models这个目录，从https://bitbucket.org/osrf/gazebo_models/downloads上面下载模型，把下下来的压缩文件解压，把解压出来的文件夹下面所有的东西弄到刚刚创建的文件夹下面，就ok了。

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controller type ‘position_controllers/JointTrajectoryController’ does not exist.

解决方法：

sudo apt-get install ros-indigo-ros-controllers

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[gazebo_gui-3] process has died

解决方法：

关闭虚拟机3D加速，这俩不兼容。

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Exception [Master.cc:50] Unable to start server[bind: Address already in use]. There is probably another Gazebo process running.

由于上次gazebo未正常关闭导致，解决方法：

killall gzserver

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trac_ik_lib

sudo apt-get install ros-indigo-trac-ik