Installing on Ubuntu from source

Install from source requires that you download and compile the source code on your own.

Contents

Installing on Ubuntu from source
1. Installation
2. Tutorials

Installation

Start by setting up the ROS repos to be able to download 3rd party packages that the source installation depends upon.

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 computer to accept software from ROS.org.

Ubuntu 10.04 (Lucid)

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu lucid main" > /etc/apt/sources.list.d/ros-latest.list'

Ubuntu 10.10 (Maverick)

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu maverick main" > /etc/apt/sources.list.d/ros-latest.list'

Ubuntu 11.04 (Natty)

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu natty main" > /etc/apt/sources.list.d/ros-latest.list'

Ubuntu 11.10 (Oneiric)

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu oneiric main" > /etc/apt/sources.list.d/ros-latest.list'

Mirrors

Set up your keys

wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

Setup

sudo apt-get install build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-pip

rosinstall

The following lines will download the ROS source code using the rosinstall tool, and bootstrap the installation. The installation downloads all ROS stacks in subdirectories inside the ~/ros directory, one subdirectory for each stack in the rosinstall file.

First install rosinstall using pip (advanced options for pip):

```
sudo pip install -U rosinstall vcstools
```

There are many different libraries and tools in ROS. We provided four default configurations to get you started.

Desktop-Full Install: (Recommended): ROS Full, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=electric&variant=desktop-full&overlay=no"

Desktop Install: : ROS Full, rviz, and robot-generic libraries

rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=electric&variant=desktop&overlay=no"

ROS-Full: ROS package, build, communication, and graphical tools.

rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=electric&variant=ros-full&overlay=no"

ROS-Base: (Bare Bones) ROS package, build, and communication libraries.

rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=electric&variant=ros-base&overlay=no"

NOTE: the instructions above download all stacks inside the ~/ros folder. If you prefer a different location, simply change the ~/ros in the commands above.

Please reference REP 113 for description of other available configurations.

Environment Setup

Shell language: Bash Bash Zsh Zsh

You'll now need to update your environment. You can do this by typing:

source ~/ros/setup.bash

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched, which you can do with the command below:

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

For Zsh users, change the last line of ~/ros/setup.zsh to

source $ROS_ROOT/tools/rosbash/roszsh

before running source ~/ros/setup.zsh Similarly, have the setup script called at the start of each new shell session with

echo "source ~/ros/setup.zsh" >> ~/.zshrc
. ~/.zshrc

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.