rosinstall (OS-neutral)

The rosinstall tool can now install a configuration of ROS on your machine. The following lines will download the ROS source code, and bootstrap the installation. The sample configuration used below will place everything in subdirectories inside the ~/ros directory, one subdirectory for each entry in the rosinstall file. This will take a while, but it should be fully automated once the initial system dependencies are installed by the rosdep tool.

wget --no-check-certificate http://ros.org/rosinstall -O ~/rosinstall
chmod 755 ~/rosinstall

You now need to rosinstall to install using a configuration file. We've created the following configurations:

• "base" (robot-generic)
• "pr2" (PR2 robot development)

The rosinstall format is just a list of SVN repositories, so it's easy to create your own (see rosinstall for more information on this format).

NOTE: the instructions below assume you are installing to ~/ros. To change this location, simply change the ~/ros in the commands below.

• ROS-only: Includes basic ROS and tutorials.

  ~/rosinstall ~/ros http://ros.org/rosinstalls/boxturtle_ros.rosinstall 

  Base Install: Recommended, includes ROS, robot-generic libraries, and tutorials.

  ~/rosinstall ~/ros http://ros.org/rosinstalls/boxturtle_base.rosinstall

  PR2 Install: Includes ROS, robot-generic libraries, tutorials, and PR2-specific libraries.

  ~/rosinstall ~/ros http://ros.org/rosinstalls/boxturtle_pr2.rosinstall

Environment Setup

You'll now need to update your environment. You can do this by typing:

source ~/ros/setup.sh

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched, which you can do with the command below:

echo "source ~/ros/setup.sh" >> ~/.bashrc
. ~/.bashrc