HowtoInstall and Configure ROS Groovy on Ubuntu
Followthe instruction http://www.ros.org/wiki/groovy/Installation/Ubuntuto install ROS Groovy:
-
Setupsources.list:
$sudosh -c 'echo "deb http://packages.ros.org/ros/ubuntu precisemain" > /etc/apt/sources.list.d/ros-latest.list'
-
Setupkeys:
$wgethttp://packages.ros.org/ros.key -O - | sudo apt-key add -
-
Installation:
-
$sudoapt-get update
-
$sudoapt-get install ros-groovy-desktop-full
-
-
Initializerosdep:
-
$sudorosdep init
-
$rosdepupdate
-
-
Environmentsetup:
-
Addthe ROS environment variables to the bash session every time a newshell is launched:
$echo"source /opt/ros/groovy/setup.bash" >> ~/.bashrc
-
Resourceto enable ros environment variables:
$source~/.bashrc
-
Checkthe ros environment variable to test the installation:
$echo$ROS_DISTRO
$export| grep ROS
You will getsomething like:
declare-x ROS_DISTRO="groovy"
declare-x ROS_ETC_DIR="/opt/ros/groovy/etc/ros"
declare-x ROS_MASTER_URI="http://localhost:11311"
declare-x ROS_PACKAGE_PATH="/opt/ros/groovy/share:/opt/ros/groovy/stacks"
declare-x ROS_ROOT="/opt/ros/groovy/share/ros"
Everytime a new shell is launched, the environment variables will beloaded automatically.
-
-
Getrosinstall:
$sudoapt-get install python-rosinstall
Followthe instructionhttp://www.ros.org/wiki/ROS/Tutorials/InstallingandConfiguringROSEnvironmentto configure ros environment:
-
Createa ROS Workspace:
-
Createdirectories:
$mkdir-p /program/ros_workspace/src
-
Initializethe workspace:
$cd/program/ros_workspace/src
$catkin_init_workspace
thiscommand will create one CMakeList.txt link;
-
Buildthe workspace:
$cd/program/ros_workspace
$catkin_make
thiscommand will create another two folders build and devel in theworkspace, refer tohttp://www.ros.org/wiki/ROS/Tutorials/InstallingandConfiguringROSEnvironmentfor detailed information about these folders.
-
-
Changethe source command in ~/.bashrc:
$gedit~/.bashrc
Commentthe last line with '#',add new source and save the file. That is,changing the last part of ~/.bashrc into:
#source/opt/ros/groovy/setup.bash
source/program/ros_workspace/devel/setup.bash
Byadding this line, every time you start a new shell, it willautomatically load ros environment variables. And roscd willdirectly take you to /program/ros_workspace/devel.