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Installing Software

Description: This tutorial show you how to install the software on your pc.

Tutorial Level: BEGINNER

Install Ubuntu

First, install Ubuntu on your pc. You can get it from the official ubuntu webpage.

NOTE: Ubuntu 10.4, 10.10 and 11.4 is compatible to the Care-O-bot software. Please use on of the Ubuntu versions listed above together with ROS electric for the Experimentation Days tutorials.

Install ROS and Care-O-bot for Ubuntu

There are several ways to install Care-O-Bot http://www.ros.org/wiki/Robots/Care-O-bot on your PC, the recommended way is using a stable release, the last version is electric ,you can find in the following web page how to obtain it: http://www.ros.org/wiki/Robots/Care-O-bot/electric

However in the case of this workshop you can install the necessary stacks with these instructions:

sudo apt-get update
sudo apt-get install ros-electric-pr2-robot ros-electric-audio-common ros-electric-arm-navigation ros-electric-pr2-controllers ros-electric-pr2-common ros-electric-joystick-drivers ros-electric-simulator-gazebo

sudo apt-get install python-setuptools python-rosinstall

rosinstall ~/git/care-o-bot https://raw.github.com/ipa320/cob_scenarios/experimentation_days/cob_experimentation_days/experimentation_days.rosinstall

The stacks that you should have installed are:

• cob_command_tools
• cob_common
• cob_driver
• cob_environments
• cob_manipulation
• cob_navigation
• cob_object_perception
• cob_robots
• cob_scenarios
• cob_simulation
• schunk_modular_robotics

please check this with

ls ~/git/care-o-bot

Please update your ROS_PACKAGE_PATH to include ~/git/care-o-bot: Either run the following line on each new terminal or add the line at the end of your ~/.bashrc file and source it again:

export ROS_PACKAGE_PATH=~/git/care-o-bot:$ROS_PACKAGE_PATH

Additionally to the ROS_PACKAGE_PATH you will have to set two more environment variables ROBOT for selecting the robot and ROBOT_ENV for selecting the environment the robot is used in either in each new terminal or in your ~/.bashrc file.

export ROBOT=cob3-3
export ROBOT_ENV=ipa-kitchen

Please check the correct setup of ROS and Care-O-bot software with

roscd

should end up in /opt/ros/electric/ros.

roscd cob_experimentation_days

should end up in ~/git/care-o-bot/cob_scenarios/cob_experimentation_days.

Build the dependencies of the packages

After installing the Care-O-Bot code, it is necessary to build all dependencies in the correct order. You can use the tool rosmake, which will compile everything for you:

rosmake --rosdep-install cob_experimentation_days

Congratulations, you have completed the first step! You can go on with the next tutorial.