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Installing Care-O-bot stacks from source

Directly downloading and installing the sources from git is only recommended for developers. This version is not tested and may not work as expected.

The Care-O-bot specific part starts at 1.6 Install Git Sources.

The current development branch from the git sources is developed against electric.

These instructions only cover installing Care-O-bot-related software on a supported Ubuntu-based machine. If you discover problems installing them on other platforms, please tell us.

Installation Instructions

1. Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted", "universe", and "multiverse". Also make sure to have "recommended updates" enabled. You can follow the Ubuntu guide for instructions on doing this.

2. Setup your sources.list

Note that this is for installing the PR2 ROS debians and does not contain instructions for setting up the real PR2. Setup your computer to accept software from packages.ros.org and Clearpath Robotics. ROS Hydro ONLY supports Precise, Quantal, and Raring for debian packages.

2.1. Mirrors

You could also use a geographically closer mirror from the following page but you might want to check how up-to-date it is: ROS/Installation/UbuntuMirrors

3. Get released packages earlier

After a new version of a package has been released it takes some time until it gets synced into the public repositories referenced above. This is mostly to give it some soak time and check for regressions.

If you don't want to wait for the sync but want to use the latest-and-greatest version of ROS packages (even if that might sometime get you unstable packages) you can switch to a different apt repository. You need to change the above entry to use the following URL instead:


4. Set up your keys

wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -

5. Install Care-O-bot Release

Install all Care-O-bot stacks (needed to get the dependencies and if overlays are not created for all stack)

sudo apt-get update
sudo apt-get install ros-hydro-care-o-bot

6. Environment setup

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

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type:

source /opt/ros/hydro/setup.bash

7. Install Git Sources

You can fork stacks on github from the official ipa320 stacks, to clone stacks to your local git repository, and for other git-related tasks.

The stacks currently available are (dependencies exist from top to bottom):

sudo apt-get install git-core curl
git clone https://github.com/ipa320/StackName

The first question you will be asked is to specify your github's user account. If you want to contribute back your changes to the community, please sign up for a free account at github and specify your username. If you only want to modify the code without contributing back just leave the username blank to checkout a read-only version.

Please update your ROS_PACKAGE_PATH to include ~/git/care-o-bot: Either run the following line on each terminal or add the line at the end of your ~/.bashrc file and source it again.

export ROS_PACKAGE_PATH=~/git/care-o-bot:$ROS_PACKAGE_PATH


Proceed to the Care-O-bot tutorials.

2024-05-18 12:34