Ubuntu install of ROS Indigo

We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu.

If you need to install from source (not recommended), please see source (download-and-compile) installation instructions.

If you rely on these packages, please support OSRF.

These packages are built and hosted on infrastructure maintained and paid for by the Open Source Robotics Foundation, a 501(c)(3) non-profit organization. If OSRF were to receive one penny for each downloaded package for just two months, we could cover our annual costs to manage, update, and host all of our online services. Please consider donating to OSRF today.

Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org. ROS Indigo ONLY supports Saucy (13.10) and Trusty (14.04) for debian packages.

  • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

  • sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116

You can try the following command by adding :80 if you have gpg: keyserver timed out error

  • sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116

Installation

First, make sure your Debian package index is up-to-date:

  • sudo apt-get update
    • If you are using Ubuntu Trusty 14.04.2 and experience dependency issues during the ROS installation, you may have to install some additional system dependencies.

      • /!\ Do not install these packages if you are using 14.04, it will destroy your X server:

        sudo apt-get install xserver-xorg-dev-lts-utopic mesa-common-dev-lts-utopic libxatracker-dev-lts-utopic libopenvg1-mesa-dev-lts-utopic libgles2-mesa-dev-lts-utopic libgles1-mesa-dev-lts-utopic libgl1-mesa-dev-lts-utopic libgbm-dev-lts-utopic libegl1-mesa-dev-lts-utopic

        /!\ Do not install the above packages if you are using 14.04, it will destroy your X server

      Alternatively, try installing just this to fix dependency issues:

      • sudo apt-get install libgl1-mesa-dev-lts-utopic

    For more information on this issue see this answers.ros.org thread or this launchpad issue

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.

  • Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators and 2D/3D perception

    Indigo uses Gazebo 2 which is the default version of Gazebo on Trusty and is recommended. If you need to upgrade to Gazebo 3 see these instructions about how to upgrade the simulator.

    • sudo apt-get install ros-indigo-desktop-full

      or click here

    Desktop Install: ROS, rqt, rviz, and robot-generic libraries

    • sudo apt-get install ros-indigo-desktop

      or click here

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

    • sudo apt-get install ros-indigo-ros-base

      or click here

    Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):

    • sudo apt-get install ros-indigo-PACKAGE
      e.g.
      sudo apt-get install ros-indigo-slam-gmapping

To find available packages, use:

apt-cache search ros-indigo

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.

sudo rosdep init
rosdep update

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type:

source /opt/ros/indigo/setup.bash

If you use zsh instead of bash you need to run the following commands to set up your shell:

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

Getting rosinstall

rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.

To install this tool on Ubuntu, run:

sudo apt-get install python-rosinstall

Build farm status

The packages that you installed were built by ROS build farm. You can check the status of individual packages here.

Tutorials

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


CategoryCategory

Wiki: indigo/Installation/Ubuntu (last edited 2016-09-21 18:33:46 by Patrick Goebel)