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ros:turtlebot:install [2014/01/27 17:42] – [Short version] redoxros:turtlebot:install [2014/01/27 22:19] – towa45
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 # TurtleBot Installation for ROS # TurtleBot Installation for ROS
  
-See: http://wiki.ros.org/turtlebot/Tutorials/hydro/Installation#turtlebot.2BAC8-Tutorials.2BAC8-hydro.2BAC8-Source_Installation.Source_Installation+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 (as a dependency, to be able to use the Kinect) +## OpenNI installation 
-OpenNI is not in the 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...+ 
 +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     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://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
  
-### Long version +### In a new workspace 
-    mkdir ecl_streams +If you have deleted your previous ROS install workspace, you need a new one..
-    cd ecl_streams +
-    rosinstall_generator ecl_streams --rosdistro hydro --deps --wet-only > ecl_streams.rosinstall +
-    wstool init -j8 src ecl_streams.rosinstall +
-    #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/ +
-    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:wheezy +
-    sudo /opt/ros/hydro/env.sh catkin_make_isolated --install --install-space /opt/ros/hydro/ +
-    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:wheezy +
-    sudo /opt/ros/hydro/env.sh catkin_make_isolated --install --install-space /opt/ros/hydro/ +
-    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:wheezy +
-    sudo /opt/ros/hydro/env.sh catkin_make_isolated --install --install-space /opt/ros/hydro/ +
-    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:wheezy +
-    sudo /opt/ros/hydro/env.sh catkin_make_isolated --install --install-space /opt/ros/hydro/ +
-    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:wheezy +
-    sudo /opt/ros/hydro/env.sh catkin_make_isolated --install --install-space /opt/ros/hydro/ +
-    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:wheezy +
-    sudo /opt/ros/hydro/env.sh catkin_make_isolated --install --install-space /opt/ros/hydro/ +
- +
- +
-### 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:wheezy +
-    sudo /opt/ros/hydro/env.sh catkin_make_isolated --install --install-space /opt/ros/hydro/ -q --force-cmake --merge +
- +
- +
-## Then...+
     mkdir turtlebot     mkdir turtlebot
     cd turtlebot     cd turtlebot
-    wstool init src https://raw.github.com/turtlebot/turtlebot/hydro/turtlebot.rosinstall -j8 +    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 
-    #rosdep install --from-paths src -i -y --rosdistro hydro --os=debian:wheezy+    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     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: 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.