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.
Contents
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.
Ubuntu 12.04 (Precise)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu 12.10 (Quantal)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu quantal main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu 13.04 (Raring)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu raring main" > /etc/apt/sources.list.d/ros-latest.list'
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:
http://packages.ros.org/ros-shadow-fixed/ubuntu
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