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

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

• 12.10 (The Quantal Quetzal)

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

• 13.04 (The Raring Ringtail)

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

Set up your key

wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

Installation

Make sure everything is up-to-date :

sudo apt-get update

Then install the most complete ROS installation :

sudo apt-get install ros-hydro-desktop-full

Now take a break and watch your computer working.

Initialize rosdep

Rosdep is used to easily install system dependencies :

sudo rosdep init

rosdep update

Set up your environment

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

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

source ~/.bashrc

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

source /opt/ros/hydro/setup.bash

Install Rosinstall

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

sudo apt-get install python-rosinstall

Run a ROS package

Creation of ROS Workspace

Create a directory and link it to ROS environment :

rosws init ~/hydro_workspace /opt/ros/hydro

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 :

cd ~/hydro_workspace/

rosws set robair_demo

source setup.bash

Make your dream come true :

rosmake robair_demo

Run the compiled package :

./robair_demo/toutLancer.sh

Useful ROS command

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