Howtoinstall and Configure ROS Groovy on Ubuntu
Followthe instruction Http://www.ros.org/wiki/groovy/Installation/Ubuntuto Install Ros Groovy:
Setupsources.list:
$sudosh-C ' echo ' Deb Http://packages.ros.org/ros/ubuntu precisemain ' >/etc/apt/sources.list.d/ros-latest.list '
Setupkeys:
$wgethttp://packages.ros.org/ros.key-o-| sudo apt-key add-
Installation:
$SUDOAPT-get Update
$sudoapt-get Install Ros-groovy-desktop-full
INITIALIZEROSDEP:
$SUDOROSDEP Init
$rosdepupdate
Environmentsetup:
Addthe ROS Environment variables to the bash sessions every time a Newshell is launched:
$echo "Source/opt/ros/groovy/setup.bash" >> ~/.BASHRC
Resourceto Enable ROS Environment variables:
$source ~/.BASHRC
Checkthe ROS environment variable to test the installation:
$echo $ros_distro
$export | grep ROS
You'll getsomething like:
Declare-x ros_distro= "Groovy"
Declare-x ros_etc_dir= "/opt/ros/groovy/etc/ros"
Declare-x ros_master_uri= "http://localhost:11311"
Declare-x ros_package_path= "/opt/ros/groovy/share:/opt/ros/groovy/stacks"
Declare-x ros_root= "/opt/ros/groovy/share/ros"
Everytime A new shell is launched, the environment variables would beloaded automatically.
Getrosinstall:
$sudoapt-get Install Python-rosinstall
Followthe Instructionhttp://www.ros.org/wiki/ros/tutorials/installingandconfiguringrosenvironmentto Configure Ros Environment:
Createa ROS Workspace:
Createdirectories:
$mkdir-P/PROGRAM/ROS_WORKSPACE/SRC
Initializethe Workspace:
$CD/PROGRAM/ROS_WORKSPACE/SRC
$catkin _init_workspace
Thiscommand would create one CMakeList.txt link;
Buildthe Workspace:
$CD/program/ros_workspace
$catkin _make
Thiscommand'll create another two folders build and Devel in Theworkspace, refer tohttp://www.ros.org/wiki/ros/tutorials /installingandconfiguringrosenvironmentfor detailed information about these folders.
Changethe Source command in ~/.BASHRC:
$gedit ~/.BASHRC
CommentThe with ' # ', add new source and save the file. That is,changing the "last part of" ~/.BASHRC into:
#source/opt/ros/groovy/setup.bash
Source/program/ros_workspace/devel/setup.bash
Byadding this line, every time for you to start a new shell, it willautomatically load ROS environment variables. and ROSCD willdirectly take you to/program/ros_workspace/devel.