[vc_row][vc_column][vc_column_text]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.

[/vc_column_text][vc_tour][vc_tab title=”Notes” tab_id=”1396417040-1-39″][vc_column_text]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.

Hardware Platform:

1 x pcDuino v1 or pcDuino v2

[/vc_column_text][/vc_tab][vc_tab title=”Install ROS Groovy” tab_id=”1396417040-2-99″][vc_column_text]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:

[/vc_column_text][/vc_tab][vc_tab title=”Update Source” tab_id=”1396419590713-2-10″][vc_column_text]

$sudo sh -c 'echo "deb http://packages.ros.org/ahendrix-mirror/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'

[/vc_column_text][/vc_tab][vc_tab title=”Configure key” tab_id=”1396419618376-3-6″][vc_column_text]

$wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

[/vc_column_text][/vc_tab][vc_tab title=”Update Software” tab_id=”1396419663866-4-1″][vc_column_text]

$sudo apt-get update

[/vc_column_text][/vc_tab][vc_tab title=”Install ROS” tab_id=”1396419711447-5-2″][vc_column_text]There are three configurations:

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.

[/vc_column_text][/vc_tab][vc_tab title=”Initialize rosdep” tab_id=”1396419900921-6-8″][vc_column_text]

$sudo apt-get install python-rosdep
$sudo rosdep init
$rosdep update

[/vc_column_text][/vc_tab][vc_tab title=”Configure ROS to run automatically with Terminal ” tab_id=”1396419968474-7-1″][vc_column_text]

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

[/vc_column_text][/vc_tab][vc_tab title=”Test” tab_id=”1396420006207-8-8″][vc_column_text]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 [3734]
ROS_MASTER_URI=http://ubuntu:11311/

setting /run_id to 5956b562-f670-11de-8ea2-26eb04d6389b
process[rosout-1]: started with pid [3747]
started core service [/rosout]

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