Hydev

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#Installing ROS

Extracted from the official Wiki: http://wiki.ros.org/hydro/Installation/Debian

Need some extra repositories

  deb http://packages.ros.org/ros/ubuntu wheezy main
  deb-src http://ftp.us.debian.org/debian unstable main contrib non-free
  deb http://ftp.us.debian.org/debian wheezy-backports main
  wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
  sudo apt-get update

Deps:

  sudo apt-get install python-rosdep python-rosinstall-generator python-wstool build-essential checkinstall python-kitchen libflann-dev libxml2-dev python-nose python-empy libpoco-dev libgtest-dev python-sip-dev
  sudo apt-get install libtinyxml-dev libtbb-dev libxml2-dev libqt4-dev pkg-config  libprotoc-dev libfreeimage-dev libprotobuf-dev protobuf-compiler libboost-all-dev freeglut3-dev libogre-dev libtar-dev libcurl4-openssl-dev libcegui-mk2-dev libopenal-dev

Let's go

  sudo rosdep init
  rosdep update
  mkdir ros 
  cd ros
  rosinstall_generator desktop_full --rosdistro hydro --deps --wet-only > hydro-desktop-full-wet.rosinstall
  wstool init -j8 src hydro-desktop-full-wet.rosinstall
  rosdep install --from-paths src --ignore-src --rosdistro hydro -y -r --os=debian:wheezy

##Dependencies

###Deb packages I have built theses packages for Debian Wheezy x86\_64, and since it takes quite a lot of time, Here they are. I'm not sure I will be maintaining them over time, but for now, feel free to use them

###From source #### Bullet

cd src
mkdir bullet
cd bullet
sudo apt-get build-dep libbullet-dev
sudo apt-get -b source libbullet-dev
sudo dpkg -i *.deb
cd ../

#### Pointcloud

  git clone https://github.com/PointCloudLibrary/pcl.git
  cd pcl
  cmake .
  make
  sudo checkinstall make install
  cd ../

Rename to libpcl-all-dev in the checkinstall step

#### Collada-dom Download collada-dom from its website, my version was 2.4.0, adapt the following to yours.

  tar -xzf collada-dom-2.4.0.tgz
  cd collada-dom-2.4.0
  cmake .
  make
  sudo checkinstall make install
  cd ../

Rename to collada-dom-dev in the checkinstall step

#### Install Player (Gazebo dep) Download: http://sourceforge.net/projects/playerstage Implement this fix: http://sourceforge.net/mailarchive/forum.php?thread_name=From_noreply%40sourceforge.net_Sat_Jul_07_17%3A37%3A11_2012&forum_name=playerstage-developers

  This may be related to the API change in zlib from 1.2.5 to 1.2.6, which is now installed on my system. According to another archlinux user, there has been a change in zlib.h in 1.2.6:
  -   typedef voidp gzFile;       /* opaque gzip file descriptor */
  + typedef struct gzFile_s *gzFile;    /* semi-opaque gzip file descriptor */ 

  Fix:
  668c668
  <         ret = gzseek(this->file,0,SEEK_SET);
  ---
  >         ret = gzseek((gzFile)this->file,0,SEEK_SET);
  714c714
  <         ret = (gzgets(this->file, this->line, this->line_size) == NULL);
  ---
  >         ret = (gzgets((gzFile)this->file, this->line, this->line_size) == NULL);

This is in file: ./server/drivers/shell/readlog.cc Then proceed to the compilation ;)

  tar -xzf player-3.0.2.tar.gz
  #fix players libz bug
  cd player-3.0.2/
  cmake .
  make
  sudo checkinstall make install
  cd ../

#### Install sdformat (Gazebo dep)

  hg clone https://bitbucket.org/osrf/sdformat sdformat
  cd sdformat
  cmake .
  make
  sudo checkinstall make install
  cd ..

#### Install Gazebo

  hg clone https://bitbucket.org/osrf/gazebo gazebo
  cd gazebo
  hg up gazebo_1.9
  cmake .
  make
  sudo checkinstall make install
  cd ..

## Build ROS Finally run the build and install command. To install somewhere other than your home directory use the –install-space option.

  ./src/catkin/bin/catkin_make_isolated --install --install-space /opt/ros/hydro
  echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc

## Troubleshooting Make sure you source the ROS environment file in your .bashrc: `source /opt/ros/groovy/setup.bash`

After installing rqt\_graph or any other rqt\_plugin, run `rqt –force-discover`