These instructions assume you are installing ROS Fuerte on Ubuntu 12.04 (Precise Pangolin).

Install ROS

Install ROS according to the directions on http://www.ros.org/wiki/fuerte/Installation/Ubuntu. If you are on CWRU's campus, in step 1.2, use the CWRU mirror instead of the ROS.org server. For example for Ubuntu Precise, use:

sudo sh -c 'echo "deb http://mobilerobots.case.edu/mirror/packages.ros.org/ros/ubuntu/ precise main" > /etc/apt/sources.list.d/ros-latest.list'

At this point, you have enough ROS installed to run through the tutorials available at http://www.ros.org/wiki/ROS/Tutorials.

Install Prerequisites

You will need to install several prerequisite ROS packages. You can do this with the following commands:

sudo apt-get update

sudo apt-get install -y ros-fuerte-desktop-full ros-fuerte-laser-drivers ros-fuerte-joystick-drivers ros-fuerte-camera-drivers ros-fuerte-audio-common ros-fuerte-openni-camera ros-fuerte-openni-launch ros-fuerte-slam-gmapping

Install Core CWRU Repositories

To setup the CWRU specific repositories, do the following:

1. Create a folder to hold your development stacks (I use ~/code/dev_stacks) mkdir -p ~/code/dev_stacks

2. Add that folder to your ROS_PACKAGE_PATH in your .bashrc. For example, add export ROS_PACKAGE_PATH=/home/eric/code/dev_stacks:$ROS_PACKAGE_PATH

3. Source your updated .bashrc

   source ~/.bashrc

4. Clone cwru-robotics/cwru-ros-pkg to that directory.

   1. Install git if you don’t have it already: sudo apt-get install git-core

   2. cd ~/code/dev_stacks

   3. git clone git://github.com/cwru-robotics/cwru-ros-pkg.git

5. Do rosmake --rosdep-install cwru_semi_stable to build all of our packages.

Special Repositories

If you're working with ABBY, Roberto, or OTTO, continue to the appropriate installation tutorial:

• ABBY

• Roberto

• OTTO