Pre-Lab 1.1: Install and Setup ROS

Overview

The goal of this lab is to install the ROS in Ubuntu 14.04 and setup the environment. The ROS version for Ubuntu 14.04 is called Indigo.

The detail can be find here How to Install ROS Indigo, the following is the concentrate step.

Note:

Commands typed in the terminal is shown in blue

Responses from the terminal is shown in orange

Step 1: Allow source from ROS

Setup your computer to accept software from packages.ros.org. ROS Indigo ONLY supports Saucy (13.10) and Trusty (14.04) for debian packages.

Step 2: Setup key

sudo apt-key adv –keyserver hkp://pool.sks-keyservers.net –recv-key 0xB01FA116

Step 3: Installation

First we have to ensure the Ubuntu is up-to-date

sudo apt-get update

Then we can install the Indigo with full version (recommend).

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

There are many packages available, in our class we also need further package for SLAM.

sudo apt-get install ros-indigo-slam-gmapping

You can find available package by using:

apt-cache search ros-indigo

Step 4: Initialize ROS

sudo rosdep init

rosdep update

Step 5: Setup environment for your Ubuntu

It’s convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

source ~/.bashrc

Step 6: Create our own workspace

The detail can be seen in textbook page 40~42. 

First let us create a folder to store all developments and scripts for compiling. The folder that we are going to create is in ~/dev/CIS623/. To add this folder, we use the following lines:

cd ~ 

mkdir dev

mkdir dev/CIS623

Once we have the folder in place, it is necessary to add the path of the folder to ROS_PACKAGE_ PATH. To do that, we only need to add a new line at the end of the ~/.bashrc file (noted that the command in textbook is incorrect):

source ~/.bashrc