Ubuntu install (Pre-compiled binaries)
We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than SVN-based builds and are our preferred installation method for Ubuntu.
Contents
Installation
Setup your sources.list
You will first need to setup your sources.list file to accept Debian packages from the ROS server.
Ubuntu 8.04 (Hardy)
sudo sh -c 'echo "deb http://code.ros.org/packages/ros/ubuntu hardy main" > /etc/apt/sources.list.d/ros-latest.list'
NOTE: After installing ROS on Hardy, some additional libraries will need to be installed. Make sure to follow the steps in Install Additional ROS Dependencies below.
Ubuntu 9.04 (Jaunty)
sudo sh -c 'echo "deb http://code.ros.org/packages/ros/ubuntu jaunty main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu 9.10 (Karmic)
sudo sh -c 'echo "deb http://code.ros.org/packages/ros/ubuntu karmic main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu 10.04 (Lucid)
sudo sh -c 'echo "deb http://code.ros.org/packages/ros/ubuntu lucid main" > /etc/apt/sources.list.d/ros-latest.list'
Set up your keys
wget http://code.ros.org/packages/ros.key -O - | sudo apt-key add -
Installation
Make sure you have re-indexed the ROS.org server:
sudo apt-get update
Choose your preferred install:
ROS only:
sudo apt-get install ros-boxturtle-ros
Base: ROS plus robot-generic stacks (e.g. navigation, visualization)
sudo apt-get install ros-boxturtle-base
PR2: ROS plus PR2-specific stacks, including PR2 simulator.
sudo apt-get install ros-boxturtle-pr2
Note: You will get a prompt about hddtemp: you can safely answer no to the prompt if you are not installing on an actual PR2. To avoid getting the prompt, you can set the debconf selection ahead of time:
echo "hddtemp hddtemp/daemon boolean false" | sudo debconf-set-selections
Stack-specific: You can also install a specific ROS stack (replace underscores with dashes of the stack name):
sudo apt-get install ros-boxturtle-STACK
e.g.sudo apt-get install ros-boxturtle-slam-gmapping
Install Additional ROS Dependencies (Hardy Only)
Not all of the dependencies for ROS on Ubuntu Hardy are available via apt, so you will need to compile and install boost and log4cxx into /opt/ros. This can be done very easily using rosdep:
$ . /opt/ros/boxturtle/setup.sh $ rosdep install ros
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/boxturtle/setup.sh" >> ~/.bashrc . ~/.bashrc
If you just want to change the environment of your current shell, you can type:
source /opt/ros/boxturtle/setup.sh
Tutorials
Prerequisites
To install the tutorials you will need at least boxturtle-base installed before running the following, with it setup in your environment. Go back to boxturtle/Installation if you have not installed boxturtle-base.
Environment
If you are using binary installs.
. /opt/ros/boxturtle/setup.sh
If you are using a source install
. ~/ros/setup.sh
Install tool
wget --no-check-certificate http://ros.org/rosinstall -O ~/rosinstall chmod 755 ~/rosinstall ~/rosinstall -o ~/ros-tutorials http://www.ros.org/rosinstalls/ros_boxturtle_tutorial.rosinstall
You'll need to configure your environment to enable the tutorials, just like you did with the ROS installation. The command below will automatically load the environment variables in your bash shell:
echo "source ~/ros-tutorials/setup.sh" >> ~/.bashrc . ~/.bashrc
If you just want to change the environment of your current shell, you can type:
source ~/ros-tutorials/setup.sh
Now, to test your installation, please proceed to the ROS Tutorials.
