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 wiki.
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
Before you can use ROS, you will need to initialize rosdep:
sudo rosdep init rosdep update
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
Install 'rosinstall', to enable you to easily download many source trees for ROS packages with one command.
sudo apt-get install python-rosinstall
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:
You can also add this line to your .bashrc in order to avoid to source every time you want to use the catkin workspace.
Obs: Every time you change something in your catkin workspace, remember to run "catkin_make" again in order to apply those changes.
Install useful packages
A useful package necessary to perform most of the control actions already available in the macro@ufmg repositories' is the 'arbotix'. To install it, do:
sudo apt-get install ros-indigo-arbotix
Another useful package is the 'dynamixel-motor'. To install it, do:
sudo apt-get install ros-indigo-dynamixel-motor
Using macro@ufmg repositories' with ROS
Some repositories at macro@ufmg use ROS to perform some control action in a real robot or in a simulator. Here you will find some tips on how to do it.
Suppose you want to run some control of Little John , using the code available in the Little John repository. You first need to download the repository folder. If you prefer to use the SVN, you can take a look at this tutorial.
After downloading, copy the 'little_john_control' and 'little_john_description' folders to your catkin_ws/src folder, in case of Little John, or the equivalent for other repositories. A better way to do that is to create a link of those folders. You can create a link doing:
ln -s <origin> <destiny>
You will also need the DQ Robotics library. You can download it from here. Create a link for this library as well:
ln -s <origin> <your_path/catkin_ws/src/dq_robotics>
After this, you can follow the steps here in order to run some control in a real robot or in Rviz. In this case, this tutorial is specific for Little John robot.