These instructions cover installing PR2-related ROS Indigo software. Alternative system (real PR2 Robot) instructions that *may* work on older machines or other hardware can be found here at [Alternative ROS Indigo PR2 System Install for Unsupported Computers]. For more an overview of PR2 software and ROS, please see the PR2 software overview. For specific instructions on how to install software directly on a real PR2, please see the PR2 Support Site and the FAQ about the WG->CpR PR2 Transition.
Configure your Ubuntu repositories
Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.
Setup your sources.list
Setup your computer to accept software from packages.ros.org.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
Set up your keys
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command.
Alternatively, you can use curl instead of the apt-key command, which can be helpful if you are behind a proxy server:
curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
Make sure you have re-indexed the ROS.org server:
sudo apt-get update
NOTE: You will get a prompt about hddtemp when you do the install below: 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
Installing the PR2 Desktop metapackage will bring in all the necessary desktop packages for interacting with the PR2 and running the simulator:
sudo apt-get install ros-indigo-pr2-desktop
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/indigo/setup.bash" >> ~/.bashrc source ~/.bashrc
If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.
If you just want to change the environment of your current shell, you can type:
If you use zsh instead of bash you need to run the following commands to set up your shell:
echo "source /opt/ros/indigo/setup.zsh" >> ~/.zshrc source ~/.zshrc
PR2 Environment (For the real robot)
If you have installed the debs from Clearpath robotics servers or received a server, this is no longer needed as the bashrc automatically sources Indigo and all env vars.
To launch the robot:
To launch the robot without C2 (in case it is not working for some reason):
roslaunch /etc/ros/robot.launch c2:=false