Ubuntu install of C turtle
We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than SVN-based builds and are our preferred installation method for Ubuntu.
Contents
Installation
Configure your Ubuntu repositories
Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.
Setup your sources.list
Setup your sources.list file to accept Debian packages from the ROS server.
Ubuntu 9.04 (Jaunty)
sudo sh -c 'echo "deb http://code.ros.org/packages/ros/ubuntu jaunty main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu 9.10 (Karmic)
sudo sh -c 'echo "deb http://code.ros.org/packages/ros/ubuntu karmic main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu 10.04 (Lucid)
sudo sh -c 'echo "deb http://code.ros.org/packages/ros/ubuntu lucid main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu 10.10 (Maverick)
sudo sh -c 'echo "deb http://code.ros.org/packages/ros/ubuntu maverick main" > /etc/apt/sources.list.d/ros-latest.list'
Set up your keys
wget http://code.ros.org/packages/ros.key -O - | sudo apt-key add -
Installation
Make sure you have re-indexed the ROS.org server:
sudo apt-get update
From April 2011, karmic will no longer be available in Ubuntu's archive because the support period officially ended. If you still want to stick to karmic, you might need some workaround, to modify /etc/apt/sources.list, to set domains of repository URLs to old-releases for all URLs in the file (workaround found here).
Choose your preferred install:
ROS only:
sudo apt-get install ros-cturtle-ros
or click here
Base: ROS plus robot-generic stacks (e.g. navigation, visualization)
sudo apt-get install ros-cturtle-base
or click here
PR2: ROS plus PR2-specific stacks, including PR2 simulator.
sudo apt-get install ros-cturtle-pr2
or click here
Note: You will get a prompt about hddtemp: you can safely answer no to the prompt if you are not installing on an actual PR2. To avoid getting the prompt, you can set the debconf selection ahead of time:
echo "hddtemp hddtemp/daemon boolean false" | sudo debconf-set-selections
PR2 All: ROS plus PR2 and bleeding edge research/experimental stacks.
sudo apt-get install ros-cturtle-pr2all
or click here
Note: You will get a prompt about hddtemp: you can safely answer no to the prompt if you are not installing on an actual PR2. To avoid getting the prompt, you can set the debconf selection ahead of time:
echo "hddtemp hddtemp/daemon boolean false" | sudo debconf-set-selections
Stack-specific: You can also install a specific ROS stack (replace underscores with dashes of the stack name):
sudo apt-get install ros-cturtle-STACK
e.g.sudo apt-get install ros-cturtle-slam-gmapping
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/cturtle/setup.bash" >> ~/.bashrc . ~/.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/cturtle/setup.bash