Differences

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--- ros:turtlebot:install [2014/01/27 18:21] – redox
+++ ros:turtlebot:install [2014/01/27 22:19] – towa45
@@ Line 1: / Line 1: @@
 # 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
@@ Line 17: / Line 20: @@
 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 joy --rosdistro hydro --deps --wet-only > turtlebot_deps.rosinstall
+    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
-    ttps://raw.github.com/turtlebot/turtlebot/hydro/turtlebot.rosinstall
+    wget https://raw.github.com/turtlebot/turtlebot/hydro/turtlebot.rosinstall
-    wstool init -j8 src turtlebot_deps.rosinstall 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
-And to prepare setup UDEV:
+<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.