Ubuntu installation

In order to run the public simulation of TIAGo it is preferable to get a fresh installation of Ubuntu 16.04.4 LTS as follows

wget http://releases.ubuntu.com/16.04/ubuntu-16.04.6-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 + Tiago installation

Set up ROS packages sources

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

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org.

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

Set up your keys

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

sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

ROS packages installation

install use the following instruction

• sudo apt-get update
  sudo apt-get install git python-rosinstall ros-kinetic-desktop-full python-catkin-tools ros-kinetic-joint-state-controller ros-kinetic-twist-mux ros-kinetic-ompl ros-kinetic-controller-manager ros-kinetic-moveit-core ros-kinetic-moveit-ros-perception ros-kinetic-moveit-ros-move-group ros-kinetic-moveit-kinematics ros-kinetic-moveit-ros-planning-interface ros-kinetic-moveit-simple-controller-manager ros-kinetic-moveit-planners-ompl ros-kinetic-joy ros-kinetic-joy-teleop ros-kinetic-teleop-tools ros-kinetic-control-toolbox ros-kinetic-sound-play ros-kinetic-navigation ros-kinetic-eband-local-planner ros-kinetic-depthimage-to-laserscan  ros-kinetic-openslam-gmapping ros-kinetic-gmapping ros-kinetic-moveit-commander ros-kinetic-humanoid-nav-msgs ros-kinetic-urdf-geometry-parser ros-kinetic-four-wheel-steering-msgs

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

• source /opt/ros/kinetic/setup.bash

Source-based installation

First of all open a terminal and create an empty workspace:

• mkdir ~/tiago_dual_public_ws
  cd ~/tiago_dual_public_ws

Download the file tiago_dual_public.rosinstall. Copy the rosinstall file in ~/tiago_dual_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:

• rosinstall src /opt/ros/kinetic tiago_dual_public.rosinstall

Set up rosdep

• sudo rosdep init
  rosdep update

Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed

• rosdep install --from-paths src --ignore-src --rosdistro kinetic --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit_node sensor_to_cloud hokuyo_node libdw-dev python-graphitesend-pip python-statsd pal_filters pal_vo_server pal_usb_utils pal_pcl pal_pcl_points_throttle_and_filter pal_karto pal_local_joint_control camera_calibration_files pal_startup_msgs pal-orbbec-openni2 dummy_actuators_manager pal_local_planner gravity_compensation_controller current_limit_controller dynamic_footprint dynamixel_cpp tf_lookup slam_toolbox joint_impedance_trajectory_controller urdf_test uvc_camera range_sensor_layer teb_local_planner pointcloud_to_laserscan octomap_server spatio_temporal_voxel_layer openni2_launch moveit_ros_visualization slam_toolbox sick_tim libuvc_camera moveit_setup_assistant moveit_fake_controller_manager"

Then, you may proceed building the workspace:

• source /opt/ros/kinetic/setup.bash
  catkin build -DCATKIN_ENABLE_TESTING=0

Once you compiled all packages and sourced the environment (source devel/setup.bash) it's all ready to go.

To check that everything is properly installed run the TIAGo++ simulation tutorial