ROS Tutorial

From Macro Wiki
Revision as of 17:58, 9 September 2017 by Mariana.fonseca (Talk | contribs)

Jump to: navigation, search

This tutorial has information about installation and setup of ROS, as well as the installation of useful packages required to control some robots. All the information here is from ROS Indigo wiki.

ROS Installation

First setup your computer to accept software from packages.ros.org:

   sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Next set up your keys:

   sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Then, to install the ROS Indigo, do:

   sudo apt-get update
   sudo apt-get install ros-indigo-desktop-full

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep:

   sudo rosdep init    
   rosdep update

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

   echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
   source ~/.bashrc

Getting rosinstall

Install 'rosinstall', to enable you to easily download many source trees for ROS packages with one command.

   sudo apt-get install python-rosinstall

Catkin Tutorial

First, you need to create and build a catkin workspace:

   mkdir -p ~/catkin_ws/src
   cd ~/catkin_ws/
   catkin_make

The 'catkin_make' command is a convenience tool for working with catkin workspaces. The first time you run it, it will create a 'CMakeLists.txt' link in your 'src' folder, besides a 'build' and a 'devel' folder. Before to continue, you need to source your new setup.*sh file:

   source devel/setup.bash

You can also add this line to your .bashrc in order to avoid to source every time you want to use the catkin workspace.