# TurtleBot Installation for ROS

See this link first: [[http://wiki.ros.org/turtlebot/Tutorials/hydro/Installation#turtlebot.2BAC8-Tutorials.2BAC8-hydro.2BAC8-Source_Installation.Source_Installation|ROS Wiki, Turtlebot]]

## OpenNI installation

To be able to use the Kinect on the Turtlebot with ROS, you need some OpenNI software, Java-stuff...

OpenNI is not in the official repos for Wheezy, we'll have to build it from source... Since it exists in Testing and Sid, things will be a little bit easier...

    mkdir libopenni-dev
    cd ./libopenni-dev
    sudo apt-get build-dep libopenni-dev
    sudo apt-get -b source libopenni-dev
    sudo dpkg -i ./libopenni-dev_*.deb ./libopenni0_*.deb
    
It's time to continue with the actual installation...

## TurtleBot packages
Make sure you got the good ROS_env before starting theses steps. Install some dependencies:
    apt-get install libftdi-dev pyqt4-dev-tools libvtk5-dev

### In your old workspace
If you still have the workspace you used when installing ROS from source let's add some packages
    cd ros_workspace
    rosinstall_generator ecl_streams ecl_geometry ecl_mobile_robot ecl_sigslots ecl_command_line openni_launch depthimage_to_laserscan joy --rosdistro hydro --deps --wet-only > turtlebot_deps.rosinstall
    wget https://raw.github.com/turtlebot/turtlebot/hydro/turtlebot.rosinstall
    wstool merge turtlebot_deps.rosinstall -t src 
    wstool merge turtlebot.rosinstall -t src
    wstool update -j8 -t src
    rosdep install --from-paths src --ignore-src --rosdistro hydro -y -r --os=debian:wheezy
    sudo /opt/ros/hydro/env.sh catkin_make_isolated --install --install-space /opt/ros/hydro/ -q --merge

### In a new workspace
If you have deleted your previous ROS install workspace, you need a new one..
    mkdir turtlebot
    cd turtlebot
    rosinstall_generator ecl_streams ecl_geometry ecl_mobile_robot ecl_sigslots ecl_command_line openni_launch depthimage_to_laserscan joy --rosdistro hydro --deps --wet-only > turtlebot_deps.rosinstall
    wget https://raw.github.com/turtlebot/turtlebot/hydro/turtlebot.rosinstall
    wstool init -j8 src turtlebot_deps.rosinstall 
    wstool merge turtlebot.rosinstall -t src
    wstool update -j8 -t src
    rosdep install --from-paths src --ignore-src --rosdistro hydro -y -r --os=debian:wheezy
    sudo /opt/ros/hydro/env.sh catkin_make_isolated --install --install-space /opt/ros/hydro/ -q --force-cmake --merge

<note>If `wstool update` returns errors for the packages already installed, you can add the option `--continue-on-error`</note> 

## End
And to prepare setup UDEV:
    rosrun kobuki_ftdi create_udev_rules


## Issues
I had issues with boost 1.53 and `shared_dynamic_cast` while compiling `kobuki_base` and `create_base` gazebo plugins. Fixt it replacing all `shared_dynamic_cast` by `dynamic_pointer_cast` in the .cpp files.