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## title = Installing ROS Indigo on the Raspberry Pi
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

== Introduction ==
This tutorial explains how to install ROS Indigo from source on the Raspberry Pi. The instructions follow roughly the [[indigo/Installation/Source|source installation of Indigo]].  However, a few dependencies need to be accounted for Raspbian.

{{{#!wiki blue/solid
/!\ '''Note:''' If you're using the Raspberry Pi 2 it is faster and easier to use the standard ARM installation instructions [[indigo/Installation/UbuntuARM|here]]
}}}
== Prerequisites ==
These instructions assume that Raspbian is being used as the OS on the Raspberry Pi. The download page for current images of Raspbian is http://www.raspberrypi.org/downloads/.

=== Setup ROS Repositories ===
''__Raspbian Wheezy:__''

{{{
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu wheezy main" > /etc/apt/sources.list.d/ros-latest.list'
$ wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
}}}
''__Raspbian Jessie:__''

{{{
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu jessie main" > /etc/apt/sources.list.d/ros-latest.list'
$ wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
}}}
Now, make sure your Debian package index is up-to-date:

{{{
$ sudo apt-get update
$ sudo apt-get upgrade
}}}
=== Install Bootstrap Dependencies ===
''__Raspbian Wheezy:__''

{{{
$ sudo apt-get install python-pip python-setuptools python-yaml python-argparse python-distribute python-docutils python-dateutil python-six
$ sudo pip install rosdep rosinstall_generator wstool rosinstall
}}}
''__Raspbian Jessie:__''

{{{
$ sudo apt-get install python-pip python-setuptools python-yaml python-distribute python-docutils python-dateutil python-six
$ sudo pip install rosdep rosinstall_generator wstool rosinstall
}}}
=== Initializing rosdep ===
{{{
$ sudo rosdep init
$ rosdep update
}}}
== Installation ==
Now, we will download and build ROS Indigo.

=== Create a catkin Workspace ===
In order to build the core packages, you will need a catkin workspace. Create one now:

{{{
$ mkdir ~/ros_catkin_ws
$ cd ~/ros_catkin_ws
}}}
Next we will want to fetch the core packages so we can build them. We will use wstool for this. Select the wstool command for the particular variant you want to install:

'''ROS-Comm: (recommended)''' ROS package, build, and communication libraries. No GUI tools.

 . {{{
$ rosinstall_generator ros_comm --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-ros_comm-wet.rosinstall
$ wstool init src indigo-ros_comm-wet.rosinstall
}}}

'''Desktop: ''' ROS, [[rqt]], [[rviz]], and robot-generic libraries

 . {{{
$ rosinstall_generator desktop --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-desktop-wet.rosinstall
$ wstool init src indigo-desktop-wet.rosinstall
}}}

This will add all of the `catkin` or `wet` packages in the given variant and then fetch the sources into the `~/ros_catkin_ws/src` directory. The command will take a few minutes to download all of the core ROS packages into the `src` folder. The `-j8` option downloads 8 packages in parallel.

{{{#!wiki blue/solid
'''Note:''' The roslisp package is excluded in these generators because the dependency `sbcl` is not available in the Raspbian repositories.  Building `sbcl` from source may be possible but is not tested.
}}}
{{{{#!wiki blue/solid
So far, only these two variants have been tested on the Raspberry Pi in Indigo; however, more are defined in [[http://ros.org/reps/rep-0131.html#variants|REP 131]] such as `robot`, `perception`, etc. Just change the package path to the one you want, e.g., for `robot` do:

{{{
$ rosinstall_generator robot --rosdistro indigo --deps --wet-only --tar > indigo-robot-wet.rosinstall
$ wstool init src indigo-robot-wet.rosinstall
}}}
Please feel free to update these instructions as you test more variants.
}}}}
{{{{#!wiki red/solid
If `wstool init` fails or is interrupted, you can resume the download by running:

{{{
wstool update -t src
}}}
}}}}
=== Resolve Dependencies ===
Before you can build your catkin workspace, you need to make sure that you have all the required dependencies. We use the rosdep tool for this, however, a couple of dependencies are not available in the repositories. They must be manually built first.

==== Unavailable Dependencies ====
Following packages are not available for Raspbian:

''__Raspbian Wheezy:__'' `libconsole-bridge-dev`, `liburdfdom-headers-dev`, `liburdfdom-dev`, `liblz4-dev`, `collada-dom-dev`

''__Raspbian Jessie:__'' `collada-dom-dev`

The following packages are needed for each ROS variant:

'''Ros_Comm''': `libconsole-bridge-dev`, `liblz4-dev`

'''Desktop''': `libconsole-bridge-dev`, `liblz4-dev`, `liburdfdom-headers-dev`, `liburdfdom-dev`, `collada-dom-dev`

The required packages can be built from source in a new directory:

 . {{{
$ mkdir ~/ros_catkin_ws/external_src
$ sudo apt-get install checkinstall cmake
$ sudo sh -c 'echo "deb-src http://mirrordirector.raspbian.org/raspbian/ testing main contrib non-free rpi" >> /etc/apt/sources.list'
$ sudo apt-get update
}}}

'''libconsole-bridge-dev:'''

 . {{{
$ cd ~/ros_catkin_ws/external_src
$ sudo apt-get build-dep console-bridge
$ apt-get source -b console-bridge
$ sudo dpkg -i libconsole-bridge0.2*.deb libconsole-bridge-dev_*.deb
}}}

If you see an error complaining about the  option '-std=c++11' then follow these steps to upgrade to gcc 4.7+

 . {{{
sudo apt-get install g++-4.7
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.6 60 --slave /usr/bin/g++ g++ /usr/bin/g++-4.6
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.7 40 --slave /usr/bin/g++ g++ /usr/bin/g++-4.7
sudo update-alternatives --config gcc
}}}

'''`liblz4-dev`''':

 . {{{
$ cd ~/ros_catkin_ws/external_src
$ apt-get source -b lz4
$ sudo dpkg -i liblz4-*.deb
}}}

'''`liburdfdom-headers-dev`''':

 . {{{
$ cd ~/ros_catkin_ws/external_src
$ git clone https://github.com/ros/urdfdom_headers.git
$ cd urdfdom_headers
$ git reset --hard 76da8dc
$ cmake .
$ sudo checkinstall make install
}}}
  . When check-install asks for any changes, the name (2) needs to change from "urdfdom-headers" to "liburdfdom-headers-dev" otherwise the rosdep install wont find it.<<BR>>
  . Note: recent version of urdfdom_headers are incompatible with the ROS Indigo because of changes from using Boost shared pointers to C++11 shared pointers. '76da8dc' is the commit hash for the version just prior to the shared pointer change.

'''`liburdfdom-dev`''':

 . {{{
$ cd ~/ros_catkin_ws/external_src
$ sudo apt-get install libboost-test-dev libtinyxml-dev
$ git clone https://github.com/ros/urdfdom.git
$ cd urdfdom
$ cmake .
$ sudo checkinstall make install
}}}
  . When check-install asks for any changes, the name (2) needs to change from "urdfdom" to "liburdfdom-dev" otherwise the rosdep install wont find it.

'''`assimp`''':

 . {{{
$ cd ~/ros_catkin_ws/external_src
$ wget https://github.com/assimp/assimp/archive/v3.3.1.zip
$ unzip v3.3.1.zip
$ rm v3.3.1.zip
$ cd ~/ros_catkin_ws/external_src/assimp-3.3.1
$ cmake . -DCMAKE_BUILD_TYPE=Release -DASSIMP_BUILD_TESTS=False
$ sudo checkinstall make install
}}}
  . When check-install asks for any changes, the name (2) needs to change from "assimp" to "libassimp-dev" otherwise the rosdep install wont find it.

'''`collada-dom-dev`''':

 . {{{
$ cd ~/ros_catkin_ws/external_src
$ sudo apt-get install libboost-filesystem-dev libxml2-dev
$ wget http://downloads.sourceforge.net/project/collada-dom/Collada%20DOM/Collada%20DOM%202.4/collada-dom-2.4.0.tgz
$ tar -xzf collada-dom-2.4.0.tgz
$ cd collada-dom-2.4.0
$ cmake .
$ sudo checkinstall make install
}}}
  . When check-install asks for any changes, the name (2) needs to change from "collada-dom" to "collada-dom-dev" otherwise the rosdep install wont find it.

{{{{#!wiki blue/solid
'''Note:''' If you don't want to compile Collada but would like to install the desktop variant, use the following generator:
{{{
$ rosinstall_generator desktop --rosdistro indigo --deps --wet-only --exclude roslisp collada_parser collada_urdf --tar > indigo-desktop-wet.rosinstall
}}}
}}}}
==== Resolving Dependencies with rosdep ====
The remaining dependencies should be resolved by running rosdep:

''__Raspbian Wheezy:__''

{{{
$ cd ~/ros_catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro indigo -y -r --os=debian:wheezy
}}}
''__Raspbian Jessie:__''

{{{
$ cd ~/ros_catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro indigo -y -r --os=debian:jessie
}}}
This will look at all of the packages in the src directory and find all of the dependencies they have. Then it will recursively install the dependencies.

The --from-paths option indicates we want to install the dependencies for an entire directory of packages, in this case src. The --ignore-src option indicates to rosdep that it shouldn't try to install any ROS packages in the src folder from the package manager, we don't need it to since we are building them ourselves. The --rosdistro option is required because we don't have a ROS environment setup yet, so we have to indicate to rosdep what version of ROS we are building for. Finally, the -y option indicates to rosdep that we don't want to be bothered by too many prompts from the package manager.

After a while rosdep will finish installing system dependencies and you can continue.

{{{#!wiki blue/solid
'''Note:''' Rosdep may report that `python-rosdep`, `python-catkin-pkg`, `python-rospkg`, and `python-rosdistro` failed to install; however, you can ignore this error because they have already been installed with pip.
}}}
=== Building the catkin Workspace ===
Once you have completed downloading the packages and have resolved the dependencies, you are ready to build the catkin packages.

Invoke catkin_make_isolated:

{{{
$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo
}}}
{{{#!wiki blue/solid
'''Note:''' This will install ROS in the equivalent file location to Ubuntu in `/opt/ros/indigo` however you can modify this as you wish.
}}}
For rviz, you will also have to apply this [[http://answers.ros.org/question/52098/unable-to-compile-rviz-on-ubuntu-armhf/|patch.]]

Should the compilation fail with an "internal compiler error", it may be because you're out of memory. A quick fix for this is to [[http://raspberrypimaker.com/adding-swap-to-the-raspberrypi/|add swap space]] to the Pi and recompile. If the error persists try building with the -j2 option instead of the default -j4 option:

{{{
$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo -j2
}}}
Now ROS should be installed! Remember to source the new installation:

{{{
$ source /opt/ros/indigo/setup.bash
}}}
Or optionally source the `setup.bash` in the `~/.bashrc`, so that ROS environment variables are automatically added to your bash session every time a new shell is launched:

{{{
$ echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
}}}
== Maintaining a Source Checkout ==
=== Updating the Workspace ===
See the [[indigo/Installation/Source|Ubuntu source install instructions]] for steps on updating the `ros_catkin_ws` workspace. The same steps should apply to the Raspberry Pi.

=== Adding Released Packages ===
You may add additional packages to the installed ros workspace that have been released into the ros ecosystem.  First, a new rosinstall file must be created including the new packages (Note, this can also be done at the initial install). For example, if we have installed `ros_comm`, but want to add `ros_control` and `joystick_drivers`, the command would be:

{{{
$ cd ~/ros_catkin_ws
$ rosinstall_generator ros_comm ros_control joystick_drivers --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-custom_ros.rosinstall
}}}
You may keep listing as many ROS packages as you'd like separated by spaces.

Next, update the workspace with wstool:

{{{
$ wstool merge -t src indigo-custom_ros.rosinstall
$ wstool update -t src
}}}
After updating the workspace, you may want to run rosdep to install any new dependencies that are required:

''__Raspbian Wheezy:__''

{{{
$ rosdep install --from-paths src --ignore-src --rosdistro indigo -y -r --os=debian:wheezy
}}}
''__Raspbian Jessie:__''

{{{
$ rosdep install --from-paths src --ignore-src --rosdistro indigo -y -r --os=debian:jessie
}}}
Finally, now that the workspace is up to date and dependencies are satisfied, rebuild the workspace:

{{{
$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo
}}}
== References ==
 * http://wiki.ros.org/indigo/Installation/Source

 * http://wiki.ros.org/hydro/Installation/Debian

 * [[http://wiki.ros.org/ROSberryPi/Setting%20up%20Hydro%20on%20RaspberryPi|http://wiki.ros.org/ROSberryPi/Setting%20up%20Hydro%20on%20RaspberryPi]]