ros:turtlebot:install
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ros:turtlebot:install [2014/01/27 17:42] – [Short version] redox | ros:turtlebot:install [2014/01/27 22:17] – added Issues section towa45 | ||
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# TurtleBot Installation for ROS | # TurtleBot Installation for ROS | ||
- | See: http:// | + | See this link first: [[http:// |
- | ## OpenNI installation | + | ## OpenNI installation |
- | OpenNI is not in the repos for Wheezy, we'll have to build it from source... Since it exists in testing | + | |
+ | To be able to use the Kinect | ||
+ | |||
+ | OpenNI is not in the official | ||
mkdir libopenni-dev | mkdir libopenni-dev | ||
Line 18: | Line 21: | ||
apt-get install libftdi-dev pyqt4-dev-tools libvtk5-dev | 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:// | ||
+ | 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: | ||
+ | sudo / | ||
- | ### Long version | + | ### In a new workspace |
- | mkdir ecl_streams | + | If you have deleted your previous ROS install |
- | cd ecl_streams | + | |
- | rosinstall_generator ecl_streams --rosdistro hydro --deps --wet-only > ecl_streams.rosinstall | + | |
- | wstool init -j8 src ecl_streams.rosinstall | + | |
- | # | + | |
- | sudo / | + | |
- | cd.. | + | |
- | mkdir ecl_geometry | + | |
- | cd ecl_geometry | + | |
- | rosinstall_generator ecl_geometry --rosdistro hydro --deps --wet-only > ecl_geometry.rosinstall | + | |
- | wstool init -j8 src ecl_geometry.rosinstall | + | |
- | #rosdep install --from-paths src --ignore-src --rosdistro hydro -y -r --os=debian: | + | |
- | sudo / | + | |
- | cd.. | + | |
- | mkdir ecl_mobile_robot | + | |
- | cd ecl_mobile_robot | + | |
- | rosinstall_generator ecl_mobile_robot --rosdistro hydro --deps --wet-only > ecl_mobile_robot.rosinstall | + | |
- | wstool init -j8 src ecl_mobile_robot.rosinstall | + | |
- | #rosdep install --from-paths src --ignore-src --rosdistro hydro -y -r --os=debian: | + | |
- | sudo / | + | |
- | cd.. | + | |
- | mkdir ecl_sigslots | + | |
- | cd ecl_sigslots | + | |
- | rosinstall_generator ecl_sigslots --rosdistro hydro --deps --wet-only > ecl_sigslots.rosinstall | + | |
- | wstool init -j8 src ecl_sigslots.rosinstall | + | |
- | #rosdep install --from-paths src --ignore-src --rosdistro hydro -y -r --os=debian: | + | |
- | sudo / | + | |
- | cd.. | + | |
- | mkdir ecl_command_line | + | |
- | cd ecl_command_line | + | |
- | rosinstall_generator ecl_command_line --rosdistro hydro --deps --wet-only > ecl_command_line.rosinstall | + | |
- | wstool init -j8 src ecl_command_line.rosinstall | + | |
- | #rosdep install --from-paths src --ignore-src --rosdistro hydro -y -r --os=debian: | + | |
- | sudo / | + | |
- | cd.. | + | |
- | mkdir joy | + | |
- | cd joy | + | |
- | rosinstall_generator joy --rosdistro hydro --deps --wet-only > joy.rosinstall | + | |
- | wstool init -j8 src joy.rosinstall | + | |
- | #rosdep install --from-paths src --ignore-src --rosdistro hydro -y -r --os=debian: | + | |
- | sudo / | + | |
- | cd.. | + | |
- | mkdir openni_launch | + | |
- | cd openni_launch | + | |
- | rosinstall_generator joy --rosdistro hydro --deps --wet-only > openni_launch.rosinstall | + | |
- | wstool init -j8 src openni_launch.rosinstall | + | |
- | #rosdep install --from-paths src --ignore-src --rosdistro hydro -y -r --os=debian: | + | |
- | sudo / | + | |
- | + | ||
- | + | ||
- | ### Short version | + | |
- | mkdir turtlebot_deps | + | |
- | cd turtlebot_deps | + | |
- | rosinstall_generator ecl_streams ecl_geometry ecl_mobile_robot ecl_sigslots ecl_command_line openni_launch joy --rosdistro hydro --deps --wet-only > turtlebot_deps.rosinstall | + | |
- | wstool init -j8 src turtlebot_deps.rosinstall | + | |
- | #rosdep install --from-paths src --ignore-src --rosdistro hydro -y -r --os=debian: | + | |
- | sudo / | + | |
- | + | ||
- | + | ||
- | ## Then... | + | |
mkdir turtlebot | mkdir turtlebot | ||
cd turtlebot | cd turtlebot | ||
- | | + | |
- | | + | wget https:// |
+ | 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 | ||
sudo / | sudo / | ||
+ | < | ||
+ | |||
+ | ## End | ||
And to prepare setup UDEV: | And to prepare setup UDEV: | ||
rosrun kobuki_ftdi create_udev_rules | 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. | ||