Difference between revisions of "Ruben-RV-ROS01"

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==ROS Fuerte Installation on Ubuntu 12.04==
 
==ROS Fuerte Installation on Ubuntu 12.04==
 
===Sources.list Configuration===
 
===Sources.list Configuration===
−
For the computer accept packages.ros.org must enter in the terminal the next line.
+
 
 +
First we need to add the repository
 
<syntaxhighlight lang=Bash>sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'</syntaxhighlight>
 
<syntaxhighlight lang=Bash>sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'</syntaxhighlight>
  
−
===Keys Configuration===
+
and setup the keys
 
<syntaxhighlight lang=Bash>wget http://packages.ros.org/ros.key -O - | sudo apt-key add -</syntaxhighlight>
 
<syntaxhighlight lang=Bash>wget http://packages.ros.org/ros.key -O - | sudo apt-key add -</syntaxhighlight>
  
 
===Installation===
 
===Installation===
−
We make sure that the server ROS.org is indexed.
+
We need to refresh the cache of your package manager
 
<syntaxhighlight lang=Bash>sudo apt-get update</syntaxhighlight>
 
<syntaxhighlight lang=Bash>sudo apt-get update</syntaxhighlight>
  
−
Install the library package and complete tools: ROS, rx, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception.
+
In our case, we decide to install ros-fuerte-desktop-full that is recommended in the ROS web, but you can also install other as explained on the [http://wiki.ros.org/fuerte/Installation/Ubuntu  web]
 +
 
 
<syntaxhighlight lang=Bash>sudo apt-get install ros-fuerte-desktop-full</syntaxhighlight>
 
<syntaxhighlight lang=Bash>sudo apt-get install ros-fuerte-desktop-full</syntaxhighlight>
  
−
Also you can [http://ros.org/wiki/fuerte/Installation/Ubuntu#Installation-1/ install independently] the libraries, tools and stacks.
 
  
 
===Enviroment Configuration===
 
===Enviroment Configuration===
−
For the enviroment variables are added each time you start the computer type this lines
 
−
<syntaxhighlight lang=Bash>echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc
 
−
. ~/.bashrc</syntaxhighlight>
 
−
 
−
We can check if  we have added typing ''gedit ~/.bashrc'' and looking at end of file
 
−
 
−
[[File:Bashrc.png|500px|thumb|center|bashrc file]]
 
−
 
−
'''IMPORTANT!!!''' If there is more than one ROS distribution installed in the file ~/.bashrc must only contain the version you're using
 
−
 
−
===Independent Tools===
 
−
Rosinstall and rosdep are used often in the terminal, but they are distributed individually. Rosinstall allows you to download source code trees for packages and ROS stacks. Rosdep allows easy installation of the system dependencies for the source code to be compiled.
 
−
 
−
For install those tools, you write in the terminal the next line
 
−
<syntaxhighlight lang=Bash>sudo apt-get install python-rosinstall python-rosdep</syntaxhighlight>
 
−
 
−
===Create a ROS Workspace===
 
−
* '''Create a new workspace'''
 
−
With the next command we go to create a workspace in ~/fuerte_workspace which inherits the set of installed packages in /opt/ros/fuerte
 
−
 
−
<syntaxhighlight lang=Bash>rosws init ~/fuerte_workspace /opt/ros/fuerte</syntaxhighlight>
 
−
 
−
'''NOTE: ''' rosw is a type of rosintall package which doesn't install default. if we haven't  installed rosintall in the last steps, we must do with the next command
 
−
 
−
<syntaxhighlight lang=Bash>sudo apt-get install python-rosinstall</syntaxhighlight>
 
−
 
−
* '''Create a sandbox directory for the new packages'''
 
−
When we create a new package we always must put it in a directory that is in the enviroment variable ROS_PACKAGE_PATH. All the directories that are added with rosw is added automatically to this variable. For this. we create a sandbox directory to which we will add the hide file .rosinstall with rosw
 
−
 
−
We create the sandbox directory in our workspace created before and we add to the workspace
 
−
 
−
<syntaxhighlight lang=Bash>mkdir ~/fuerte_workspace/sandbox
 
−
rosws set ~/fuerte_workspace/sandbox</syntaxhighlight>
 
−
 
−
Each time that the entries of workspace change it, is necessary to do a re-source
 
−
 
−
<syntaxhighlight lang=Bash>source ~/fuerte_workspace/setup.bash</syntaxhighlight>
 
  
−
Also, it is advisable to add the last line to the file ~/.bashrc just after the line to which already added at the beginning of installation for haven't execute each time we starts our computer.
+
Now we need to configure the enviroment variables
  
−
To confirm that our path has been modified we can execute the next line
+
<syntaxhighlight lang=Bash>echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc </syntaxhighlight>
  
−
<syntaxhighlight lang=Bash>$ echo $ROS_PACKAGE_PATH</syntaxhighlight>
+
For refresh the enviroment variables of your terminal you can reset it or type
  
−
and we must obtain a output similar to this
+
<syntaxhighlight lang=Bash> . ~/.bashrc </syntaxhighlight>
  
−
<syntaxhighlight lang=Bash>/home/your_user_name/fuerte_workspace/sandbox:/opt/ros/fuerte/share:/opt/ros/fuerte/stacks</syntaxhighlight>
+
==Dynamic window algorithm==

Revision as of 17:44, 11 September 2013

  • Project name: Turtlebot robot indoor navigation
  • Dates: July 2013 -
  • Degree: Summer Research Residence
  • Authors: Ruben
  • Contact: runix404@gmail.com
  • SVN Repositories:
  • Tags: ROS, navigation, turtlebot
  • Technologies: kinect, pcl, openni, c++, cmake, ROS
  • State: Ongoing


ROS Fuerte Installation on Ubuntu 12.04

Sources.list Configuration

First we need to add the repository 

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'

and setup the keys 

wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

Installation

We need to refresh the cache of your package manager 

sudo apt-get update

In our case, we decide to install ros-fuerte-desktop-full that is recommended in the ROS web, but you can also install other as explained on the web 

sudo apt-get install ros-fuerte-desktop-full


Enviroment Configuration

Now we need to configure the enviroment variables 

echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc

For refresh the enviroment variables of your terminal you can reset it or type 

 . ~/.bashrc

Dynamic window algorithm

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