ROS Installation

This page describe how to install and prepare ROS for CloPeMa users. It extends the tutorial in ROS documentation.

Prerequisites

  • A computer running Ubuntu 12.4
  • Administrator rights on that computer.
  • Minor linux/ubuntu knowledge.
  • Prepared ssh keys for CloPeMa repositories.

ROS Installation

These steps should provide ROS environment for CloPeMa development. Run these commands in terminal:

  • Add ROS repository
    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
  • Setup keys
    wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
  • Update package list
    sudo apt-get update
  • Install ROS desktop
    sudo apt-get install ros-fuerte-desktop-full
  • Install rosinstall and rosdep
    sudo apt-get install python-rosinstall python-rosdep
  • Install other dependencies CloPeMa Stack Dependencies

CloPeMa workspace installation

The ROS/CloPeMa workspace is where the development is done. The following section will guide you through all the steps necessary to make a working ROS/CloPeMa workspace.

  • Clone CloPeMa Stack, the following command will make a ROS directory inside the current directory, with initialized CloPeMa stack repository:
    git clone git@clopema.felk.cvut.cz:clopema_stack.git ROS
  • Download all packages and checkout the latest version of the stack:
    cd ROS
    git submodule init
    git submodule update
    
  • Source workspace setup:
    source setup.bash
  • Add workspace initialisation into the .bashrc. This will ensure that everything is properly setup when you open another terminal:
    echo "source $PWD/setup.bash">>~/.bashrc
  • Try to make all clopema packages
    rosmake -s clopema_*
  • Set your configuration variable CLOPEMA_PARTNER to CVUT, if you are from other partner organisation replace CVUT by one of CERTH, UG, UNIGE
    echo "export CLOPEMA_PARTNER=CVUT">>~/.bashrc
  • Set ROS_MASTER_URI for network communication, execute following command (substitute HOSTNAME for name of the machine)
    echo "export ROS_MASTER_URI=http://$HOSTNAME:11311">>~/.bashrc

Resources