ROS Native Compilation

https://wiki.gumstix.com/index.php?title=ROS

ROS Native Compilation

1. Get all libraries and tools

   $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake

2. Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude

   $ pip install rospkg rosdep rosinstall catkin-pkg wstool

3. Initialize dependencies

   $ sudo rosdep init

   $ rosdep update

4. Now we create a catkin workspace and initialize to build core ROS packages

   $ mkdir -p ~/ros_core_ws

   $ cd ~/ros_core_ws

   $ wstool init src  https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall

5. Build catkin and install it. catkin is the low-level build system of ROS

   $ ./src/catkin/bin/catkin_make

   $ ./src/catkin/bin/catkin_make install

6. Setup catkin build environment

   $ source ~/ros_core_ws/install/setup.bash

7. Now we create and initialize a workspace to put all our ROS packages

   $ mkdir ~/ros

   $ cd ~/ros

   $ rosws init . ~/ros_core_ws/install/

8. Current ROS distribution does not recognize Linaro. We have to patch the os detection file.

   $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py

9. Add the following bold faced changes

   OS_UBUNTU='ubuntu'

   OS_LINARO='linaro

   OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))

   OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))

10. There are a couple dependencies required before we can compile iRobot's Create ROS package

    $ roslocate info kdl > kdl.rosinstall

    $ rosws merge kdl.rosinstall

    $ rosws update

    $ rosdep install kdl

    $ rosmake kdl

    $ roslocate info bullet > bullet.rosinstall

    $ rosws merge bullet.rosinstall

    $ rosws update

    $ rosdep install bullet

    $ rosmake bullet

11. If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake

    $ rosdep update

12. And build geometry package, the last dependency

    $ roslocate info geometry > geometry.rosinstall

13. In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.

    $ vim geometry.rosinstall

    //version: tf_rework

    version: fuerte_devel

    $ rosws merge geometry.rosinstall

    $ rosws update

    $ rosdep install geometry

    $ rosmake geometry

14. Finally we can install iRobot's ROS package

    $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall

    $ vim irobot_create_2_1.rosinstall

    $ rosws merge irobot_create_2_1

    $ rosws update

    $ rosmake irobot_create_2_1