# TurtleBot Installation for ROS
See this link first: 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.