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These instructions cover installing Maggie-related ROS Hydro software on a supported Ubuntu-based machine. For more an overview of Maggie software and ROS, please see the Maggie software overview.

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.

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.

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

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:


Set up your keys

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


Current installation has to be from the sources. All the sources for the Maggie robot can be found here.

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

Configuring the robot

Before to compile and execute the nodes, the robot has to be configured.

 $ rosrun maggie_bringup install.sh

 $ roscd
 $ catkin_make

2024-07-13 12:35