Source-based installation

Currently source-based installation is provided.

These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.

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

  • mkdir ~/tiago_public_ws
    cd ~/tiago_public_ws

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

  • rosinstall src /opt/ros/kinetic tiago_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 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"

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.

Wiki: Robots/TIAGo/kinetic_install (last edited 2019-01-31 12:01:05 by VictorLopez)