Ubuntu installation

In order to run the public simulation of PMB-2 it is preferable to get a fresh installation of Ubuntu 18.04.2 LTS as follows

• wget http://releases.ubuntu.com/18.04/ubuntu-18.04.2-desktop-amd64.iso

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 PMB-2'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-joy ros-melodic-joy-teleop ros-melodic-teleop-tools ros-melodic-control-toolbox ros-melodic-sound-play ros-melodic-navigation ros-melodic-eband-local-planner ros-melodic-depthimage-to-laserscan  ros-melodic-openslam-gmapping ros-melodic-gmapping ros-melodic-moveit-commander

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

• source /opt/ros/melodic/setup.bash