| Note: This tutorial assumes that you have completed the previous tutorials: Tangobot Hardware Setup. |
 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
Tangobot Software Installation
Description: Installing the required software to start the Tangobot.Keywords: Tango ROS Turtlebot
Tutorial Level: BEGINNER
Overview
Tangobot's software consists of two main components:
- The Android application, which is a sensor, a navigation planner and a robot base driver at the same time. In other words, it does pretty much all the work.
- A visualizer, which shows the robot in a map and is capable of sending goals.
This tutorial will help you install both components.
If you are an advanced user, familiarized with ROS and Android and you want to hack Tangobot, you might want to take a look at the Developer section.
Pre Requisites
These instructions assume you have a computer with pre-installed Ubuntu 16.04 (Xenial) or a second Android phone (not necessarily Tango-enabled) to use as visualizers.
Tangobot Android Application
Go to the Play Store in your Tango-enabled Android device. Search for Tangobot and install the application.
Visualizer Software
There are two options to visualize the robot: a desktop computer running Linux and RViz, or a second Android device running Map Nav application. Follow the instructions below according to the visualizer you want to use.
Desktop visualization
This section describes how to install RViz in your Linux desktop as well as some helper scripts.
ROS installation
Follow the instructions to install ROS Kinetic full desktop installation. You will also need rosjava build tools. From a terminal, run:
sudo apt-get install ros-kinetic-rosjava-build-tools
Tangobot desktop configuration
Open a command line and run the following commands:
mkdir -p ~/tangobot_ws/src cd ~/tangobot_ws/src git clone https://github.com/ekumenlabs/tangobot cd ~/tangobot_ws source /opt/ros/kinetic/setup.bash rosdep update rosdep install --from-paths src/tangobot/tangobot_desktop catkin_make --pkg tangobot_desktop
This will add the tangobot_desktop package to your ROS environment, and will ensure that all the required dependencies are installed (which are some of the standard Turtlebot packages).
Android visualizer: Map Nav
Go to the Play Store in your second Android device and look for Yujin Robot's Ros Map Navigation (Kinetic) and install the application.
What's next?
You now have all the required software setup installed to start using your robot. You can now proceed to Autonomous Navigation in an Empty Map for a quick demo, or go back to the Tangobot main page.
