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

Other changes

<syntaxhighlight lang=CMake> 

diff -r f47a20bb44a5 parsec_bringup/manifest.xml --- a/parsec_bringup/manifest.xml Fri Mar 30 09:32:23 2012 -0700 +++ b/parsec_bringup/manifest.xml Fri Oct 18 14:04:22 2013 +0200 @@ -15,7 +15,7 @@

  <depend package="rospy" />
  <depend package="geometry_msgs" />
  <depend package="priority_mux" />

- <depend package="cmd_vel_safety_filter" /> +

  <depend package="compressed_visualization_transport" />

</package>

diff -r f47a20bb44a5 parsec_navigation/manifest.xml --- a/parsec_navigation/manifest.xml Fri Mar 30 09:32:23 2012 -0700 +++ b/parsec_navigation/manifest.xml Fri Oct 18 14:04:22 2013 +0200 @@ -16,6 +16,8 @@

  <depend package="move_base" />
  <depend package="navfn" />
  <depend package="parsec_perception" />

- <depend package="point_cloud_converter" /> + + <depend package="pointcloud_to_laserscan" /> +<depend package="sensor_msgs"/>

  <depend package="rcconsole" />
</package>

diff -r f47a20bb44a5 parsec_odometry/manifest.xml --- a/parsec_odometry/manifest.xml Fri Mar 30 09:32:23 2012 -0700 +++ b/parsec_odometry/manifest.xml Fri Oct 18 14:04:22 2013 +0200 @@ -16,6 +16,6 @@

  <depend package="parsec_msgs" />
  <depend package="nav_msgs" />
  <depend package="sensor_msgs" />

- <depend package="eigen" /> +

</package>

diff -r f47a20bb44a5 rcconsole/include/rcconsole/log_filter.h --- a/rcconsole/include/rcconsole/log_filter.h Fri Mar 30 09:32:23 2012 -0700 +++ b/rcconsole/include/rcconsole/log_filter.h Fri Oct 18 14:04:22 2013 +0200 @@ -21,6 +21,9 @@

#include <rosgraph_msgs/Log.h>

+#include "ros/ros.h" +#include "std_msgs/String.h" +

namespace rcconsole {

class LogFilter : public nodelet::Nodelet {

</syntaxhighlight>