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Source Installation

Overview

This guide is for people who'd like to hack on the turtlebot sources and contribute. For more information, please ask us for more information at <ros-sig-turtlelbot AT googlegroups DOT com>.

On Hydro, source installation gets simple compared to groovy since everything is now catkinized.

Preparation

> sudo apt-get install python-rosdep python-wstool ros-hydro-ros
> sudo rosdep init
> rosdep update

Software Development Workspace

> mkdir ~/turtlebot
> cd ~/turtlebot
> wstool init src https://raw.github.com/turtlebot/turtlebot/hydro/turtlebot.rosinstall -j8
> source /opt/ros/hydro/setup.bash
> rosdep install --from-paths src -i -y
> catkin_make

If you have a kobuki base, don't forget to create the udev rule so that it always appears on /dev/kobuki (you'll need your sudo password):

> source ~/turtlebot/devel/setup.bash
> rosrun kobuki_ftdi create_udev_rules

Optional: Software Installation Workspace

The previous instructions are sufficient for working and building with the sources in the devel space. You can also install the results and use that as well (for most users there are no immediate benefits to this).

# Follow the previous instructions up to catkin_make, then:
> catkin_make -DCMAKE_INSTALL_PREFIX=/opt/turtlebot/hydro
> cd build; sudo make install
> source /opt/turtlebot/hydro/setup.bash
# If you need to uninstall
> rm -rf /opt/turtlebot/hydro

Convenience

For convenience, you may wish to source your setup.sh script from your .bashrc so that your environment is ready as soon as you log in. e.g.

> echo "source ~/turtlebot/devel/setup.bash" >> ~/.bashrc

2020-02-22 13:19