Proj-2013-2014-RobAIR-2/getStarted

= Requirement =


 * Ubuntu OS, but ONLY one of the following version : 12.04 (LTS The Precise Pangolin), 12.10 (The Quantal Quetzal) or 13.04 (The Raring Ringtail)
 * An Internet connection
 * Patience and terminal skills

= ROS installation =

First of all, you need to install ROS. IMPORTANT : This tutorial is based on the Hydro version of ROS. If the version is different, you have to adapt the following commands !

Set up your sources.list
Proceed as follow (depending of your version) :


 * 12.04 (LTS The Precise Pangolin
 * 12.10 (The Quantal Quetzal)


 * 13.04 (The Raring Ringtail)

Installation
Make sure everything is up-to-date :

Then install the most complete ROS installation :

Now take a break and watch your computer working.

Initialize rosdep
Rosdep is used to easily install system dependencies :

Set up your environment
This way, the ROS environment variables are automatically added to your bash session every time a new shell is launched :

If you just want to change the environment of your current shell, you can type :

Install Rosinstall
Rosinstall is frequently used for installing specific package and download specific code :

= Run a ROS package =

Creation of ROS Workspace
Create a directory and link it to ROS environment :

Packages for RobAIR
Download one of the following package (order by date) :


 * 2013-2014 Github (POLYTECH) https://github.com/DavidLevayer/robAIR
 * 2012-2013 Github (ENSIMAG) https://github.com/belluzj/RobAir
 * 2012-2013 Github (POLYTECH) https://github.com/NicolasAfonso/RobAir

Unzip the archive into your ROS workspace (~/hydro_workspace) and rename the directory "robair_demo"

Build package
Add the directory to the ROS environment :

Make your dream come true :

Run the compiled package :

= ROS bugs =

RT-Library missing
sudo gedit /opt/ros/hydro/share/catkin/cmake/tools/rt.cmake

if(NOT (APPLE OR WIN32 OR MINGW OR ANDROID))

become

if(NOT (APPLE OR WIN32 OR MINGW OR ANDROID OR UNIX))

Include could not find rostoolchain
The following command install several ROS packages, including old version of rostoolchain (fuerte)

sudo apt-get install ros-fuerte-orocos-toolchain ros-fuerte-rtt-ros-integration ros-fuerte-rtt-geometry ros-fuerte-rtt-ros-comm ros-fuerte-rtt-common-msgs

Could not open port : permission denied [Errno 13]
Ensure you are in the 'dialout' group:

groups

If not, you have to ;)

sudo usermod -a -G dialout username

Log out then back in to apply the changes.

= Useful ROS commands =

Coming soon...

= Related information and sources =
 * Tutorial from RICM4 2012-2013 : http://air.imag.fr/index.php/Robot_Operating_System
 * Notes from ENSIMAG Fablab : http://fablab.ensimag.fr/index.php/RobAIR/Pilotage_Automatique_du_Robot
 * ROS website : http://wiki.ros.org/ROS/Installation