HowToInstallRoombaPackage

Mode 1

Get packages

Step 1: Create a rosinstall file: (e.g turtlebot_roomba.install)

- hg:
     uri: http://code.google.com/p/parsec/
     local-name: RoCKIn/parsec
- svn:
     uri: http://code.in.tum.de/svn/turtlebot-roomba
     local-name: RoCKIn/turtlebot_roomba
- svn:
     uri: http://isr-uc-ros-pkg.googlecode.com/svn/stacks/lse_communication/trunk
     local-name: RoCKIn/lse_communication
- svn:
     uri: http://isr-uc-ros-pkg.googlecode.com/svn/stacks/serial_communication/trunk/cereal_port/
     local-name: RoCKIn/cereal_port

Step 2: In your ROS workspace you can launch

rosinstall . turtlebot_roomba.install

Step 3: Some packages in parsec have deprecated methods, so we can remove in the compilation (this is a todo, and the turtlebot_roomba doesn't need all of them) and make a few changes

Move outside folder parsec:

cmd_vel_safety_filter  gmapping_offline  parsec_arduino  parsec_arduino_tests  tf_odometry_relay