Difference between revisions of "ROS Tutorial"

Latest revision as of 09:17, 5 October 2010

Step by step tutorial

Installation

• Install Ubuntu 10.04 (this is the supported ubuntu version at September 2010) as native OS or inside a virtual machine (tested on VirtualBox - http://www.virtualbox.org)

• Add ROS apt repositories and add ROS PGP keys to your system:

sudo sh -c 'echo "deb http://code.ros.org/packages/ros/ubuntu lucid main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://code.ros.org/packages/ros.key -O - | sudo apt-key add -
sudo apt-get update

• Install ros-cturtle-base

sudo apt-get install ros-cturtle-base

Configuration

• In order to automatically add ROS environment variables when opening a termina, add ROS setup.sh script to bash resource file:

echo "source /opt/ros/cturtle/setup.sh" >> ~/.bashrc
. ~/.bashrc

Setup a folder for your folder for ros experiment

• add this line

export ROS_PACKAGE_PATH=YOUR_BEGINNER_TUTORIALS_PATH:$ROS_PACKAGE_PATH

to your '.bashrc' file,

Tips

• rosed command use as default the vim editor. If you want to set your favorite editor (in the example emacs), add

export EDITOR='emacs -nw'

to the .bashrc file

System update problems

• If you try to update your system with

sudo apt-get update
sudo apt-get upgrade

and you obtain a message like:

[...]
The following packages have been kept back:
[...]

Try to use

sudo aptitude update
sudo aptitude upgrade

Aptitute manage dependancies better than apt-get, so you should be able to update your system properly

Resources

- ROS website: http://www.ros.org

- ROS Cturtle installation instructions: http://www.ros.org/wiki/cturtle/Installation/Ubuntu

- VirtualBox: http://www.virtualbox.org