ROS(Robot Operating System) provides tool and libraries to help developers with robot applications. It provides hardware abstraction, device driver, machine vision, message communication and package management, etc. ROS is an open source software.
- Install ROS Groovy
- Update Source
- Configure key
- Update Software
- Install ROS
- Initialize rosdep
- Configure ROS to run automatically with Terminal
Prompt ‘$’ indicates that the command is running on pcDuino.
Prompt ‘#’ indicates that the command is running on a x86_64 machine.
Prompt ‘>’ indicates that the command is running under u-boot status on pcDuino.
1 x pcDuino v1 or pcDuino v2
ROS team has taken single board computers into consideration already by providing the libraries of Ubuntu ARM version. The official installation guide can be found at Ubuntu ARM install of ROS Groovy. pcDuino with Lubuntu is a perfect platform to run ROS. In this post, we detail the steps we have gone through when we installed ROS on pcDuino.
It requires a large storage space to install ROS. So we recommend to boot from SD card, and the space of SD needs to be larger than 8GB.
Launch a terminal on pcDuino, and run the following commands:
$sudo sh -c 'echo "deb http://packages.ros.org/ahendrix-mirror/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
$wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
$sudo apt-get update
There are three configurations:
|ros-groovy-ros-base||Meta package for ros-base variant of ROS.|
|ros-groovy-ros-comm||ROS communications-related packages, including core client libraries (roscpp, rospy) and graph introspection tools (rostopic, rosnode, rosservice, rosparam).|
|ros-groovy-ros-full||Meta package for ros-full variant of ROS.|
ros-groovy-ros-full contains the most complete functions. When we install ros-groovy-ros-full, it will also need the following dependency:
The following packages have unmet dependencies: ros-groovy-ros-full : Depends: ros-groovy-rqt-common-plugins (= 0.2.14-0precise-20130402-0859-+0000) but it is not going to be installed E: Unable to correct problems, you have held broken packages.
It is straightforward to install ros-groovy-ros-comm and ros-groovy-ros-base by:
$sudo apt-get install ros-groovy-ros-comm
We can also use the command ‘$apt-cache search ros-groovy ‘ to find out which packages are missing.
$sudo apt-get install python-rosdep $sudo rosdep init $rosdep update
$echo "source /opt/ros/groovy/setup.bash" >> ~/.bashrc $source ~/.bashrc
Run roscrore to check if ROS master is running correctly:
$started roslaunch server http://ubuntu:37709/ ros_comm version 1.9.44 SUMMARY ======== PARAMETERS * /rosdistro * /rosversion NODES auto-starting new master process[master]: started with pid  ROS_MASTER_URI=http://ubuntu:11311/ setting /run_id to 5956b562-f670-11de-8ea2-26eb04d6389b process[rosout-1]: started with pid  started core service [/rosout]