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Installing Ubuntu with ROS

Description: This tutorial describes the steps needed to get a proper Ubuntu and ROS installation to have a system up and running for the ARI tutorials.

Tutorial Level: BEGINNER

Next Tutorial: Robots/ARI/Tutorials/Installation/ARISimulation

Author: Alessandro Di Fava <alessandro.difava@pal-robotics.com>

Maintainer: Victor Lopez < victor.lopez@pal-robotics.com >

Source: https://github.com/pal-robotics/ari_tutorials.git

  Show EOL distros: 

  • Not supported. Currently supported ROS LTS: melodic.

  • Not supported. Currently supported ROS LTS: melodic.

  • Not supported. Currently supported ROS LTS: melodic.

  • Not supported. Currently supported ROS LTS: melodic.

  • Not supported. Currently supported ROS LTS: melodic.


Make sure that all ROS repositories specified in the previous tutorial have been installed.

Ubuntu installation

In order to run the public simulation of ARI it is preferable to get a fresh installation of Ubuntu 18.04.2 LTS as follows

Use this ISO to install a fresh Ubuntu OS in your development computer. Afterwards, you can proceed installing ROS as explained in the next section.

ROS installation

Set up ROS packages sources

In order to install the required ROS packages for running ARI's simulation first, as explained in ROS Melodic installation, it is required to include packages.ros.org in the debian sources:

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

The set up the required keys to access the debian sources:

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

In case of getting a gpg: keyserver timed out error try the following:

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

ROS packages installation

install use the following instruction

  • sudo apt-get update
    sudo apt-get install git python-rosinstall ros-melodic-desktop-full python-catkin-tools ros-melodic-joint-state-controller ros-melodic-twist-mux ros-melodic-ompl ros-melodic-controller-manager ros-melodic-moveit-core ros-melodic-moveit-ros-perception ros-melodic-moveit-ros-move-group ros-melodic-moveit-kinematics ros-melodic-moveit-ros-planning-interface ros-melodic-moveit-simple-controller-manager ros-melodic-moveit-planners-ompl ros-melodic-joy ros-melodic-joy-teleop ros-melodic-teleop-tools ros-melodic-control-toolbox ros-melodic-sound-play ros-melodic-navigation ros-melodic-depthimage-to-laserscan ros-melodic-moveit-commander -y

Append the following command to ~/.bashrc to allow any console to use the catkin commands

  • source /opt/ros/melodic/setup.bash

Wiki: Robots/ARI/Tutorials/Installation/InstallUbuntuAndROS (last edited 2020-03-24 13:51:43 by ProcopioStein)