Robots/PR2/groovy

Contents

Installation
PR2 Environment (For the real robot)
Tutorials

Installation

These instructions cover installing PR2-related ROS Groovy 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.

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.

Setup your sources.list

Setup your computer to accept software from packages.ros.org. ROS Groovy does not support Lucid, Maverick or Natty.

Ubuntu 11.10 (Oneiric)

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

Ubuntu 12.04 (Precise)

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

Ubuntu 12.10 (Quantal)

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

Mirrors

Set up your keys

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

Installation

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

```
sudo apt-get update
```

NOTE: You will get a prompt about hddtemp when you do the install below: 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

Choose your preferred install: Temporary: packages.willowgarage is currently down. Please see

PR2 Desktop: PR2 developer stacks, including PR2 simulator.
- ```
sudo apt-get install ros-groovy-pr2-desktop
```
  or click here
WG PR2 Desktop: PR2 and Willow Garage developer stacks.
- ```
sudo apt-get install ros-groovy-wg-pr2-desktop
```
  or click here

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/groovy/setup.bash" >> ~/.bashrc
source ~/.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/groovy/setup.bash

PR2 Environment (For the real robot)

To source your PR2 to Groovy if you have Hydro installed run these commands in this sequence:

robot groovy

export ROS_ENV_LOADER=/etc/ros/env.sh

roslaunch /etc/ros/robot.launch

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