Installing on Ubuntu 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 mercurial


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/Ubuntu/SVN (last edited 2011-02-28 09:18:23 by ChristianVerbeek)