Howto Install and Configure ROS on Ubuntu

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.