下载ROS包

cd ~/catkin_ws/src/
git clone https://gitee.com/kay2020/open_manipulator_controls.git
git clone https://gitee.com/kay2020/open_manipulator_dependencies.git
cd ~/catkin_ws && catkin_make

　　

 

运行

roslaunch open_manipulator_controllers joint_trajectory_controller.launch sim:=false