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Install ROS#

ROS is used to communicate with a wide variety of robots. Specifically, we use it to communicate with TIAGo, a robot from PAL Robotics.

Install ROS Kinetic Kame (Ubuntu 16.04)#

Add the ros repository to apt sources and setup the repository keys 

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://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Download and install ROS 

sudo apt update
sudo apt install ros-kinetic-desktop-full
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install ros-kinetic-catkin python-catkin-tools 
sudo rosdep init
rosdep update

Extend the environment to include ROS commands in any new opened console 

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

Install ROS Indigo Igloo (Ubuntu 13.10 and 14.04)#

Add the ros repository to apt sources and setup the repository keys 

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 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Download and install ROS 

sudo apt update
sudo apt install git python-rosinstall ros-indigo-desktop-full python-catkin-tools ros-indigo-joint-state-controller ros-indigo-twist-mux ros-indigo-ompl ros-indigo-controller-manager ros-indigo-moveit-core ros-indigo-moveit-ros-perception ros-indigo-moveit-ros-move-group ros-indigo-moveit-kinematics ros-indigo-moveit-ros-planning-interface ros-indigo-moveit-simple-controller-manager ros-indigo-moveit-planners-ompl ros-indigo-joy ros-indigo-joy-teleop ros-indigo-teleop-tools ros-indigo-control-toolbox ros-indigo-sound-play ros-indigo-navigation ros-indigo-eband-local-planner ros-indigo-depthimage-to-laserscan  ros-indigo-openslam-gmapping ros-indigo-gmapping ros-indigo-moveit-commander ros-indigo-geometry-experimental

Extend the environment to include ROS commands in any new opened console 

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

Extend the installation#

To look for more ROS packages available for installation, execute 

apt-cache search ros-indigo