Difference between revisions of "Ros"

From ArchWiki
Jump to: navigation, search
(Setup)
Line 3: Line 3:
  
 
== Setup ==
 
== Setup ==
 
+
Get dependencies, and create alternate python dir to workaround shebang line in scripts that points to python3. Thanks to [http://evorobo.blogspot.com/2011/07/robotics-operating-system.html DavidS].
 
  pacman -S python2 cmake wget python-yaml python2-distribute python-yaml pil python-numpy
 
  pacman -S python2 cmake wget python-yaml python2-distribute python-yaml pil python-numpy
 
  yaourt -S log4cxx
 
  yaourt -S log4cxx

Revision as of 16:53, 16 August 2011

Originally from the ROS wiki. ROS is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management.

Setup

Get dependencies, and create alternate python dir to workaround shebang line in scripts that points to python3. Thanks to DavidS.

pacman -S python2 cmake wget python-yaml python2-distribute python-yaml pil python-numpy
yaourt -S log4cxx
mkdir /usr/local/bin/alt   
ln -s /usr/bin/python2 /usr/local/bin/alt/python

Rosinstall

The following lines will download the ROS source code using the rosinstall tool, and bootstrap the installation. The installation downloads all ROS stacks in subdirectories inside the ~/ros directory, one subdirectory for each stack in the rosinstall file.

First install rosinstall:

sudo easy_install-2.7 -U rosinstall

Then use rosinstall to download your preferred C-Turtle variant:

ROS-only: Includes basic ROS and tutorials.

rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=ros_only&overlay=no"

Base Install: ROS plus robot-generic stacks (e.g. navigation, visualization)

rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=base&overlay=no"

PR2 Install: ROS plus PR2-specific stacks, including PR2 simulator.

rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=pr2&overlay=no"

PR2 All Install: ROS plus PR2 and bleeding edge research/experimental stacks.

rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=pr2all&overlay=no"

NOTE: the instructions above download all stacks inside the ~/ros folder. If you prefer a different location, simply change the ~/ros in the commands above.

Environment Setup

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

source ~/ros/setup.bash

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.bash" >> ~/.bashrc
. ~/.bashrc

For Zsh users, change the last line of ~/ros/setup.zsh to

source $ROS_ROOT/tools/rosbash/roszsh

before running source ~/ros/setup.zsh Similarly, have the setup script called at the start of each new shell session with

echo "source ~/ros/setup.zsh" >> ~/.zshrc
. ~/.zshrc

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.