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ROS installation and reference

Modified 2018-06-22 by Andrea Censi

Liam Paull

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Liam Paull

File book/software_reference/30_ros/60_ROS_reference.md.

File book/software_reference/30_ros/60_ROS_reference.md
in repo duckietown/docs-software_reference branch master commit be76bc5d
last modified by Andrea Censi on 2018-06-24 14:29:02

Created by function create_notes_from_elements in module mcdp_docs.task_markers.

Install ROS

Modified 2018-06-22 by Andrea Censi

This part installs ROS. You will run this twice, once on the laptop, once on the robot.

The first commands are copied from this page.

Tell Ubuntu where to find ROS:

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

Tell Ubuntu that you trust the ROS people (they are nice folks):

$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Fetch the ROS repo:

$ sudo apt update

Now install the mega-package ros-kinetic-desktop-full.

$ sudo apt install ros-kinetic-desktop-full

There’s more to install:

$ sudo apt install ros-kinetic-{tf-conversions,cv-bridge,image-transport,camera-info-manager,theora-image-transport,joy,image-proc,compressed-image-transport,phidgets-drivers,imu-complementary-filter,imu-filter-madgwick}

Do not install packages by the name of ros-X, only those by the name of ros-kinetic-X. The packages ros-X are from another version of ROS.

XXX: not done in aug20 image:

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XXX: not done in aug20 image:

File book/software_reference/30_ros/60_ROS_reference.md.

File book/software_reference/30_ros/60_ROS_reference.md
in repo duckietown/docs-software_reference branch master commit be76bc5d
last modified by Andrea Censi on 2018-06-24 14:29:02

Created by function create_notes_from_elements in module mcdp_docs.task_markers.

Initialize ROS:

$ sudo rosdep init
$ rosdep update

rqt_console

Modified 2018-06-22 by Andrea Censi

TODO: to write

roslaunch

Modified 2018-06-22 by Andrea Censi

TODO: to write

rviz

Modified 2018-06-22 by Andrea Censi

TODO: to write

rostopic

Modified 2018-06-22 by Andrea Censi

TODO: to write

catkin_make

Modified 2018-06-22 by Andrea Censi

TODO: to write

rosrun

Modified 2018-06-22 by Andrea Censi

TODO: to write

rostest

Modified 2018-06-22 by Andrea Censi

TODO: to write

rospack

Modified 2018-06-22 by Andrea Censi

TODO: to write

rosparam

Modified 2018-06-22 by Andrea Censi

TODO: to write

rosdep

Modified 2018-06-22 by Andrea Censi

TODO: to write

roswtf

Modified 2018-06-22 by Andrea Censi

TODO: to write

rosbag

Modified 2018-06-22 by Andrea Censi

A bag is a file format in ROS for storing ROS message data. Bags, so named because of their .bag extension, have an important role in ROS. Bags are typically created by a tool like rosbag, which subscribe to one or more ROS topics, and store the serialized message data in a file as it is received. These bag files can also be played back in ROS to the same topics they were recorded from, or even remapped to new topics.

roscore

Modified 2018-06-22 by Andrea Censi

TODO: to write

Troubleshooting ROS

Modified 2018-06-24 by Andrea Censi

computer is not in your SSH known_hosts file

See this thread. Remove the known_hosts file and make sure you have followed the instructions in (unknown ref software_reference/ssh-local-configuration)

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I will ignore this because it is an external link. 

 > I do not know what is indicated by the link '#software_reference/ssh-local-configuration'.

Location not known more precisely.

Created by function check_if_any_href_is_invalid in module mcdp_docs.check_missing_links.
.

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