Installing on Debian from SVN

Install from SVN requires that you download and compile the source code on your own.



  • sudo apt-get install build-essential python-yaml cmake subversion wget python-setuptools

If compilation bails out with the error

  • Failed to find rosdep boost for package rosout on OS:debian version:squeeze

install these packages, too:

  • liblog4cxx10-dev python-wxgtk2.8 doxygen python-epydoc graphviz libapr1-dev libwxgtk2.8-dev libaprutil1-dev python-paramiko libboost-dev libboost-thread-dev libboost-regex-dev libboost-signals-dev libboost-filesystem-dev libboost-program-options-dev libboost-iostreams-dev

The error might still be thrown, but ros ("ROS-only") builds fine.

  • [ rosmake ] Built 73 packages with 0 failures.

For the "Base Install" you additionally need package mercurial, otherwise you get

  • ERROR: woah, unknown installation method hg not installed, cannot create a hg vcs client


The following lines will download the ROS source code using the rosinstall tool, and bootstrap the installation. The installation downloads all ROS stacks in subdirectories inside the ~/ros directory, one subdirectory for each stack in the rosinstall file.

First install rosinstall:

  • sudo easy_install -U rosinstall

Then use rosinstall to download your preferred C-Turtle variant:

  • ROS-only: Includes basic ROS and tutorials.

    • rosinstall ~/ros ""

    Base Install: ROS plus robot-generic stacks (e.g. navigation, visualization)

    • rosinstall ~/ros ""

    PR2 Install: ROS plus PR2-specific stacks, including PR2 simulator.

    • rosinstall ~/ros ""

    PR2 All Install: ROS plus PR2 and bleeding edge research/experimental stacks.

    • rosinstall ~/ros ""

NOTE: the instructions above download all stacks inside the ~/ros folder. If you prefer a different location, simply change the ~/ros in the commands above.

Environment Setup

Shell language:   Bash     Zsh    

You'll now need to update your environment. You can do this by typing:

source ~/ros/setup.bash

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched, which you can do with the command below:

echo "source ~/ros/setup.bash" >> ~/.bashrc
. ~/.bashrc

For Zsh users, change the last line of ~/ros/setup.zsh to

source $ROS_ROOT/tools/rosbash/roszsh

before running source ~/ros/setup.zsh Similarly, have the setup script called at the start of each new shell session with

echo "source ~/ros/setup.zsh" >> ~/.zshrc
. ~/.zshrc


Now, to test your installation, please proceed to the ROS Tutorials.

Wiki: cturtle/Installation/Debian (last edited 2011-02-27 15:01:27 by Martin Weis)