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 have deprecated methods (they are from ROS electric), so we can remove them in the compilation. The turtlebot_roomba package doesn't need all of them.

ToDo: We should fix them but I haven't got time. Also the dependencies of turtlebot_roomba should be checked

Parsec

We can move outside folder parsec:

cmd_vel_safety_filter  gmapping_offline  parsec_arduino  parsec_arduino_tests  tf_odometry_relay

We need to fix the dependencies in some stacks:

<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>

rurtlebot_roomba

we need to fix a problem with a deprecated method

<syntaxhighlight lang=python> 

Index: turtlebot_node/src/turtlebot_node/create_sensor_handler.py

=======================================================

--- turtlebot_node/src/turtlebot_node/create_sensor_handler.py (revisión: 29) +++ turtlebot_node/src/turtlebot_node/create_sensor_handler.py (copia de trabajo) @@ -35,12 +35,14 @@

import logging
import time
import rospy

+import genpy

from math import radians
from turtlebot_driver import SENSOR_GROUP_PACKET_LENGTHS

-_struct_I = roslib.message.struct_I +_struct_I = genpy.message.struct_I

_struct_BI = struct.Struct(">BI")
_struct_12B2hBHhb7HBH5B4h = struct.Struct(">12B2hBHhb7HBH5B4h")

@@ -75,7 +77,7 @@

        return msg
    except struct.error, e:

- raise roslib.message.DeserializationError(e) + raise genpy.message.DeserializationError(e)

class CreateSensorHandler(object):
    

</syntaxhighlight>

Mode 2

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

- 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
- svn:
     uri: http://isr-uc-ros-pkg.googlecode.com/svn/stacks/roomba_robot/trunk/roomba_500_series/ 
     local-name: RoCKIn/roomba_500_series/

Step 2: In your ROS workspace you can launch

rosinstall . turtlebot_roomba.install