Ubutu18.04+ROS-kinetic下UR3建模

本文工作环境配置：
ubuntu18.04
ros

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make

2.配置环境变量

gedit ~/.bashrc 

在代码的最后加上

source /home/zz(~~电脑名称~~ )/catkin_ws/devel/setup.bash

3.查看配置的环境变量

echo $ROS_PACKAGE_PATH

4.下载ur3的功能包

5.把ur3保存到catkin_ws中的src文件中
6.编译功能包

cd ~/catkin_ws
catkin_make

7.在rviz中显示

roslaunch ur3 display.launch 

8.当时我出现的错误是
ERROR: cannot launch node of type [joint_state_publisher_gui/joint_state_publisher_gui]: joint_state_publisher_gui
运行，是因为缺少依赖包 joint_state_publisher_gui

sudo apt-get install ros-melodic-joint-state-publisher-gui

9.打开的rviz
图中只有网格，没有ur3模型，需要设置两个地方