Installation of ROS-Indigo on Ubuntu 14.04 LTS

Download from http://www.ubuntu.com/download

• Install Chrome (from google page)

• Install vim

  $ sudo apt-get update
  $ sudo apt-get install vim
  

(see http://wiki.ros.org/indigo/Installation/Ubuntu)

1. Setup your sources.list

   $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
   

2. Set up your keys

   $ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
   

3. Installation - Desktop-Full Install

   $ sudo apt-get update
   $ sudo apt-get install ros-indigo-desktop-full
   

1. Initialize ROSdep (rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.)

   $ sudo rosdep init
   $ rosdep update
   

2. Environment setup

   $ echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
   $ source ~/.bashrc
   

3. Getting rosinstall

   $ sudo apt-get install python-rosinstall
   

(see http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment)

1. Create the workspace

   $ mkdir -p ~/catkin_ws/src
   $ cd ~/catkin_ws/src
   $ catkin_init_workspace
   

2. Build the workspace

   $ cd ~/catkin_ws/
   $ catkin_make
   

3. Source the setup.bash in devel/ (echo into the .bashrc so that we won't need to source it every time we startup the system) (see "Mastering ROS for Robotic Programing", pp.27)

   $ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
   $ source ~/.bashrc
   

1. Gazebo-ROS Interface

   $ sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-msgs ros-indigo-gazebo-plugins ros-indigo-gazebo-ros-control
   

   Models for Gazebo 2.2 (see http://answers.ros.org/question/199401/problem-with-indigo-and-gazebo-22/)

   $ wget -r -R "index\.html*" http://models.gazebosim.org/
   

   Copy them (the download place is inside ~/.gazebo/) into ~/.gazebo/models folder (after you mkdir models inside ~/.gazebo) and everything will be ok.

2. Moveit!

   $ sudo apt-get install ros-indigo-moveit-full
   

3. Navigation Stack

   $ sudo apt-get install ros-indigo-navigation
   

4. Gmapping

   $ sudo apt-get install ros-indigo-gmapping
   

5. Joint_state_controller

   $ sudo apt-get install ros-indigo-joint-state-controller
   

6. Joy (joystick)

   $ sudo apt-get install ros-indigo-joy
   

7. USB camera

   $ sudo apt-get install ros-indigo-usb-camera
   

8. Depthimage to laserscan

   $ sudo apt-get install ros-indigo-depthimage-to-laserscan
   

1. Initiate the git in Ubuntu

   $ git config --global user.name "Benson516"
   $ git config --global user.email "benson516@hotmail.com"
   

2. Clone this repository under /catkin_ws

   $ cd /catkin_ws
   $ git clone https://github.com/Benson516/ROS_Practice.git
   

3. Rename the directory to src

   $ mv ROS_Practice src
   

1. My Programs for practicing ROS at github

   $ cd catkin_ws
   $ git clone https://github.com/Benson516/ROS_Practice.git
   

2. Examples in "Mastering ROS for Robotic Programing"

   $ cd ~
   $ git clone https://github.com/Benson516/mastering_ros.git