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Linux系统环境搭建
系统出厂自带Ubuntu（V-20.04）系统，内置开发环境，无需搭建和管理，更新mercury_ros包即可。
mercury_ros是大象机器人推出的适用于其Mercury B1系列机械臂的ROS1包。
ROS1项目地址: http://github.com/elephantrobotics/mercury_ros
机械臂API驱动库地址: https://github.com/elephantrobotics/pymycobot
1 更新 mercury_ros 包
为了保证用户能及时使用最新的官方包，可以通过文件管理器进入/home/er/文件夹，打开ROS1环境终端，然后运行命令更新：
# 克隆github上的代码
cd ~/catkin_ws/src
git clone https://github.com/elephantrobotics/mercury_ros.git # 在决定是否执行此命令之前，请查看下面的注意部分
cd ~/catkin_ws # 回到工作区
catkin_make # 在工作区中构建代码
source devel/setup.bash # 添加环境变量
注意: 如果在/home/er/catkin_ws/src（相当于~/catkin_ws/src）目录下已经存在mercury_ros文件夹，则需要先删除原来的mercury_ros，然后再执行上述命令。 其中，目录路径中的er为系统的用户名。 如有不一致，请修改。
至此ROS1环境搭建完成，您可以学习 ROS的基础知识 或者 ROS使用案例。
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Linux system environment
The system comes with Ubuntu (V-20.04) system when leaving the factory, with a built-in development environment. There is no need to set up and manage it. Just update the mercury_ros package.
mercury_ros is a ROS1 package launched by Elephant Robot for its Mercury B1 series robotic arms.
ROS1 Project address: http://github.com/elephantrobotics/mercury_ros
Robotic arm API driver library address: https://github.com/elephantrobotics/pymycobot
1 Update the mercury_ros package
In order to ensure that users can use the latest official packages in a timely manner, you can enter the /home/er/ folder through the file manager, open the ROS1 environment terminal, and then run the update command:
# Clone the code on github
cd ~/catkin_ws/src
git clone https://github.com/elephantrobotics/mercury_ros.git # Please check the attention section below before deciding whether to execute this command
cd ~/catkin_ws # Back to work area
catkin_make # Build the code in the workspace
source devel/setup.bash # add environment variable
Note: If the mercury_ros folder already exists in the /home/er/catkin_ws/src directory, you need to delete the original mercury_ros first and then execute the above command. Among them, er in the directory path is the user name of the system. If there are any inconsistencies, please modify them.
So far, the ROS1 environment construction has been completed.You can learn the basics of ROS or ROS use cases.
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