Hydev

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# TurtleBot Installation for ROS

See: http://wiki.ros.org/turtlebot/Tutorials/hydro/Installation#turtlebot.2BAC8-Tutorials.2BAC8-hydro.2BAC8-Source_Installation.Source_Installation

## OpenNI installation (as a dependency, to be able to use the Kinect) 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…

  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

### Long version

  mkdir ecl_streams
  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
  cd turtlebot
  wstool init src https://raw.github.com/turtlebot/turtlebot/hydro/turtlebot.rosinstall -j8
  #rosdep install --from-paths src -i -y --rosdistro hydro --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:

  rosrun kobuki_ftdi create_udev_rules