Ruben-RV-ROS01

• 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

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ROS Fuerte Installation on Ubuntu 12.04

Sources.list Configuration

For the computer accept packages.ros.org must enter in the terminal the next line.

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

Keys Configuration

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

Installation

We make sure that the server ROS.org is indexed.

sudo apt-get update

Install the library package and complete tools: ROS, rx, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception.

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

Also you can install independently the libraries, tools and stacks.

Enviroment Configuration

For the enviroment variables are added each time you start the computer type this lines

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

We can check if we have added typing gedit ~/.bashrc and looking at end of file

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

sudo apt-get install python-rosinstall python-rosdep

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

rosws init ~/fuerte_workspace /opt/ros/fuerte

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

sudo apt-get install python-rosinstall

• 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

mkdir ~/fuerte_workspace/sandbox
rosws set ~/fuerte_workspace/sandbox

Each time that the entries of workspace change it, is necessary to do a re-source

source ~/fuerte_workspace/setup.bash

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.

To confirm that our path has been modified we can execute the next line

$ echo $ROS_PACKAGE_PATH

and we must obtain a output similar to this

/home/your_user_name/fuerte_workspace/sandbox:/opt/ros/fuerte/share:/opt/ros/fuerte/stacks