The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms.
Go to the ROS website to chose which version of ROS you want to download. For this tutorial we will use ROS Kinetic and install it on Ubuntu 16.04 LTS (Xenial Xerus). If you are downloading ROS Kinetic on Ubuntu, we suggest that you follow the steps found here.
You may refer to the list of pictures on the right which show you all the commands that have to be run in the right order for ROS Kinetic to be successfully installed. The following is the description of each command:
- Setup source.list (1/8)
- Setup keys (2/8)
- Update the package lists (3/8)
- Desktop-Full Install (4/8)
- Initialize rosdep (5/8)
- Update rosdep (6/8)
- Environment Setup (7/8)
- Install rosinstall (8/8)
sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’
sudo apt-key adv –keyserver hkp://ha.pool.sks-keyservers.net:80 –recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
sudo rosdep init
echo “source /opt/ros/kinetic/setup.bash” >> ~/.bashrc
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
Create a ROS Workspace
The next step is to create a catkin workspace. This is where the ROS projects are stored, modified, built and executed. If you want more information on the catkin workspace, you can take a look here. To create your catkin workspace you can follow the instruction on this page.
You may refer to the list of pictures on the right which show you all the commands that have to be run in the right order for the catkin workspace to be successfully installed. The following is the description of each command:
- Create the root workspace directory (1/5)
- Build the workspace (2/5)
- The catkin_ws directory now contains additional directories ( build , devel ) which can be deleted at any time. Re-run catkin_make to re-create them.
- Make the workspace visible to ROS by sourcing the setup file in the devel directory (3/5)
- Verify that you have the 2 highlighted lines inside your
- You can add them manually at the end of the file if they are not present
- Verify that the ROS environment variables are well setup (5/5)
- Make sure that the environment variables are not equal to null
cd ~/ mkdir -p ~/catkin_ws/src cd catkin_ws
echo “source ~/catkin_ws/devel/setup.bash” >> ~/.bashrc source ~/.bashrc gedit ~/.bashrc
printenv | grep ROSCheck the environment variables
ROS Setup Completed !
At this point, ROS is fully installed and can be used !