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Installation - ROS Development Environment
Description: Preparing a ros environment for development.Keywords: android installation
Tutorial Level: BEGINNER
Next Tutorial: Creating Android Packages
Contents
Overview
This tutorial shows how to setup the usual ros environment for development. That is dependencies are installed via debs and a source workspace with multiple stacks containing catkin packages.
It is useful when building across multiple libraries (android .aars) and repositories and also for automated continuous integration builds.
Android Studio & SDK
Download and install the new android studio+sdk.
RosJava
From debs on ubuntu
> sudo apt-get install ros-hydro-catkin ros-hydro-ros ros-hydro-rosjava python-wstool
You could also install the rosjava sources and chain that workspace to the ones below.
Sources
Fat Workspace
For the full suite of official repositories:
> mkdir -p ~/android > wstool init -j4 ~/android/src https://raw.github.com/rosjava/rosjava/hydro/android_core.rosinstall # or if you want the android_apps/android remocons repos as well: # wstool init -j4 ~/android/src https://raw.github.com/rosjava/rosjava/hydro/android_apps.rosinstall > source /opt/ros/hydro/setup.bash > cd ~/android > catkin_make
Diet Workspace
You don't need to compile all .aar's yourself - the official .aar's exist in our maven repo which will automatically download when they are listed as a gradle dependency of your project. In this case, you can just work on your own sources (saves a great deal of compilation time!).
> mkdir -p ~/android > wstool init -j4 ~/android/src my_sources.rosinstall > source /opt/ros/hydro/setup.bash > cd ~/android > catkin_make
Usage
You can now either continue to develop in one of three ways:
On the command line with catkin_make.
Source devel/setup.bash and just run gradle in each android package.
Import your packages into android studio and use the IDE.
Testing an App
Android
Install the android_tutorial_camera app via Android Studio to your device. Refer to the Android Studio notes for instructions on how to do this and other things that will mercilessly coerce Android Studio into aligning your evil plans. Feel free to add to these.
Launch the app and connect to a pc master configured in the following way.
PC
> source ~/android/devel/setup.bash
- Start a roscore on your machine
- Launch the app on your device and enter your machine's ip when prompted
- Start the image viewer on your machine
> rosrun image_view image_view image:=camera/image _image_transport:=compressed
Creating an App
Make use rosjava_build_tools, it has a couple of catkin_create_xxx scripts which are useful.
