System Setup¶

This section gives brief instructions on how to set up laptops for this training. The training is tested on ROS Kinetic Kame distribution for Ubuntu 16.04.

Install ROS with dependencies¶

Set up ROS 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
sudo apt update

Get the dependency list from github and install.

PKG_LIST=$(wget -O- -q https://github.com/ut-ims-robotics/ros_training/raw/master/config/dependencies_apt.txt)
echo "$PKG_LIST" | egrep '^[^#;]' | xargs -r sudo apt -q -y install
sudo rosdep init
rosdep update

Prepare coffee…
Enjoy coffee…
Prepare more coffee, because it is still installing…

Install librealsense¶

TMP_DIR=$(mktemp -d)
cd $TMP_DIR
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
cmake .
make -j4
sudo make install
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
cd ~ && rm -fr $TMP_DIR

Install proto3 for cartographer¶

TMP_DIR=$(mktemp -d)
cd $TMP_DIR
git clone https://github.com/google/protobuf.git
cd protobuf
git checkout tags/v3.4.1
mkdir build
cd build
cmake -G Ninja \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_BUILD_TYPE=Release \
  -Dprotobuf_BUILD_TESTS=OFF \
  ../cmake
ninja
sudo ninja install
cd ~ && rm -fr $TMP_DIR

Setup `clearbot_ros_ws` workspace¶

source /opt/ros/kinetic/setup.bash
mkdir -p ~/clearbot_ros_ws/src
cd ~/clearbot_ros_ws
wstool init src https://github.com/ut-ims-robotics/ros_training/raw/master/config/.rosinstall
catkin init
catkin build

Automatic sourcing¶

echo "source ~/clearbot_ros_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc