转移文件

https://blog.csdn.net/LSG_Down/article/details/81014465?utm_source=blogxgwz3

https://blog.csdn.net/cstone123/article/details/95608424

CubeMX https://blog.csdn.net/as480133937/article/details/98885316

 http://mail.aubo-robotics.cn/alimail/openLinks/downloadMimeMetaDiskBigAttach?id=netdiskid%3Av001%3Afile%3ADzzzzzzNqZo%3BfdO2LnU4CFNWqMxX%2Fq30paz1Z7%2FiLIZadDrTOB8aGYdwHukbR4PtxX%2FQJ92yxT%2FU96frh0%2BtED%2FXjxAqxq7pRLZP%2FDl216LkSXTeM%2BFpm%2FMz%2FocWZxwLiRq0X%2BCZxyEuxgI3sf1w1Ok%3D

 https://blog.csdn.net/sunqinglin4826/article/details/71703476

http://www.cnblogs.com/lvchaoshun/p/6159248.html

 unsigned short getCRC16(unsigned char *data, unsigned short datalen)
{
  unsigned short wCRCin = 0xFFFF;
    unsigned short wCPoly = 0xA001;
    while(datalen --)
    {
        wCRCin ^= *(data++);
        for (int i = 0; i < 8; i ++)
        {
            if (wCRCin & 0x01)
            wCRCin = (wCRCin >> 1) ^ wCPoly;
          else
            wCRCin = wCRCin >> 1;
        }
    }
    return wCRCin;
}

sudo apt-get install ros-kinetic-desktop-full
sudo apt-get install ros-kinetic-transmission-interface
sudo apt-get install ros-kinetic-gazebo-ros-control
sudo apt-get install ros-kinetic-joint-state-controller
sudo apt-get install ros-kinetic-effort-controllers
sudo apt-get install ros-kinetic-position-controllers

sudo apt-get install ros-kinetic-moveit-ros-planning-interface

sudo apt-get install ros-kinetic-industrial-core

 http://aubobbs.aubo-robotics.cn/forum.php?mod=viewthread&tid=466&extra=