Ubuntu install of C turtle PR2 Desktop

Contents

Ubuntu install of C turtle PR2 Desktop
1. Installation
2. Tutorials

Installation

These instructions cover installing PR2-related ROS C-Turtle software on a supported Ubuntu-based machine. For more an overview of PR2 software and ROS, please see the PR2 software overview.

Important: these instructions describe installing PR2-specific software on your desktop or laptop. It does not cover installing ROS on a PR2. For PR2-related service information and tutorials, please see the PR2 Support Site.

1. Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

2. Setup your sources.list

Setup your sources.list file to accept Debian packages from the ROS server.

Ubuntu 9.04 (Jaunty)

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

Ubuntu 9.10 (Karmic)

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

Ubuntu 10.04 (Lucid)

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

Ubuntu 10.10 (Maverick)

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

Mirrors

3. Set up your keys

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

4. Installation

Make sure you have re-indexed the ROS.org server:

```
sudo apt-get update
```

Choose your preferred install:

PR2: ROS plus PR2-specific stacks, including PR2 simulator.
- ```
sudo apt-get install ros-cturtle-pr2
```
  or click here
- Note: You will get a prompt about hddtemp: you can safely answer no to the prompt if you are not installing on an actual PR2. To avoid getting the prompt, you can set the debconf selection ahead of time:
  - ```
  echo "hddtemp hddtemp/daemon boolean false" | sudo debconf-set-selections
```
PR2 All: ROS plus PR2 and bleeding edge research/experimental stacks.
- ```
sudo apt-get install ros-cturtle-pr2all
```
  or click here
- Note: You will get a prompt about hddtemp: you can safely answer no to the prompt if you are not installing on an actual PR2. To avoid getting the prompt, you can set the debconf selection ahead of time:
  - ```
  echo "hddtemp hddtemp/daemon boolean false" | sudo debconf-set-selections
```

5. Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type:

source /opt/ros/cturtle/setup.bash

Tutorials

1. Proceed to the PR2 Tutorials.

2. Installing your Kinect 2 and integrating it with PR2 Indigo http://wiki.ros.org/Robots/PR2/HardwareMods

3. Filing a bug for ROS Package related bugs: https://github.com/pr2

4. Filing a bug for PR2 system related bugs: https://github.com/pr2-debs