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

Ubuntu install (Pre-compiled binaries)
1. Installation
2. Tutorials

Installation

Setup your sources.list

You will first need to setup your sources.list file to accept Debian packages from the ROS server.

Mirrors

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://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.