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Note: This tutorial assumes that you have completed the previous tutorials: Interacting with your Turtlebot.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Turtlebot Installation

Description: Installing software onto the turtlebot.

Keywords: turtlebot installation

Tutorial Level: BEGINNER

Next Tutorial: PC Installation

Installation Types

The indigo turtlebot software is designed to run on a notebook running a Trusty version of Ubuntu. This is not a strict requirement - it will also be perfectly happy sitting on certain embedded boards, or source installed on top of another linux distribution but of course. If you wish to be more adventurous in this way, good luck!

ISO Installation

This instruction is for users with a netbook with no operating system.

Download ISO & Create Startup USB

Download TurtleBot ISO with the following link and create startup USB disk using Startup Disk Creator or similar tools.

Install Ubuntu with TurtleBot ISO

Boot from turtlebot ISO usb and follow normal ubuntu installer guide. This will also install turtlebot packages with fancy turtlebot background image.

Debs Installation

These instructions are intended for users with a netbook pre-installed with Ubuntu Trusty.

Ubuntu Repo Setup

Follow the generic Ubuntu instructions for a ros-indigo-desktop-full installation.

Ubuntu Package Install

In addition, you will need to install the following debs for TurtleBot (please update this if you find any errors):

> sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs

Source Installation

This 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-turtlebot AT googlegroups DOT com>.

Preparation

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

Workspaces

We are using chained workspaces here, but you could just as simply merge them into one.

> mkdir ~/rocon
> cd ~/rocon
> wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/indigo/rocon.rosinstall
> source /opt/ros/indigo/setup.bash
> rosdep install --from-paths src -i -y
> catkin_make

> mkdir ~/kobuki
> cd ~/kobuki
> wstool init src -j5 https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall
> source ~/rocon/devel/setup.bash
> rosdep install --from-paths src -i -y
> catkin_make

> mkdir ~/turtlebot
> cd ~/turtlebot
> wstool init src -j5 https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall
> source ~/kobuki/devel/setup.bash
> rosdep install --from-paths src -i -y
> catkin_make

Troubleshooting

If you are having conflict issues with openni sensor debs, please read this issue to find a workaround.

If the rosdep install step for ~/turtlebot fails saying it's unable to find create_dashboard and create_gazebo_plugins, make sure you use '-r' with the rosdep install command and that will continue despite not being able to find either create_dashboard or create_gazebo_plugins.

Post Installation

Environment variables

For Turtlebot packages some environment variables are used that are set by environment hook. Most easily, it's automatically run when you open a new terminal.

Base-Specific Instructions

Alternative Hardware Options

Conveniences

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.

# For a deb installation
> echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
# For a source installation
> echo "source ~/turtlebot/devel/setup.bash" >> ~/.bashrc

If you have overlaid your own development environment on top of the installed debs, point to that setup script instead.

What Next?


2019-10-19 13:17