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Installing Ubuntu with ROS + TIAGo Base
Description: This tutorial describes the steps needed to get a proper Ubuntu and ROS installation to have a system up and running for the PMB-2 tutorials.Tutorial Level: BEGINNER
Next Tutorial: Robots/PMB-2/Tutorials/Installation/PMB2Simulation Robots/PMB-2/Tutorials/Installation/PMB2_tutorial_docker
Author: Sai Kishor Kothakota < sai.kishor@pal-robotics.com >
Maintainer: Jordi Pages < jordi.pages@pal-robotics.com >
Source: https://github.com/pal-robotics/pmb2_tutorials.git
Show EOL distros:
Not supported. Currently supported ROS LTS: indigo, kinetic.
Ubuntu installation
In order to run the public simulation of PMB-2 it is preferable to get a fresh installation of Ubuntu 14.04.5 LTS as follows
wget http://releases.ubuntu.com/14.04/ubuntu-14.04.5-desktop-amd64.iso
Use this ISO to install a fresh Ubuntu OS in your development computer. Afterwards, you can proceed installing ROS as explained in the next section.
Specific system dependencies installation
We need to install the libopencv-nonfree-dev library which will be used in the tutorials for educational purposes. Open a terminal an run the following instructions
sudo add-apt-repository --yes ppa:xqms/opencv-nonfree sudo apt-get update sudo apt-get install libopencv-nonfree-dev
ROS installation
Set up ROS packages sources
In order to install the required ROS packages for running PMB-2's simulation first, as explained in ROS Indigo installation, it is required to include packages.ros.org in the debian sources:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
The set up the required keys to access the debian sources:
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
In case of getting a gpg: keyserver timed out error try the following:
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
ROS packages installation
install use the following instruction
sudo apt-get update sudo apt-get install git python-rosinstall ros-indigo-desktop-full python-catkin-tools ros-indigo-joint-state-controller ros-indigo-twist-mux ros-indigo-ompl ros-indigo-controller-manager ros-indigo-moveit-core ros-indigo-moveit-ros-perception ros-indigo-moveit-ros-move-group ros-indigo-moveit-kinematics ros-indigo-moveit-ros-planning-interface ros-indigo-moveit-simple-controller-manager ros-indigo-moveit-planners-ompl ros-indigo-joy ros-indigo-joy-teleop ros-indigo-teleop-tools ros-indigo-control-toolbox ros-indigo-sound-play ros-indigo-navigation ros-indigo-eband-local-planner ros-indigo-depthimage-to-laserscan ros-indigo-openslam-gmapping ros-indigo-gmapping ros-indigo-moveit-commander ros-indigo-geometry-experimental
Append the following command to ~/.bashrc to allow any console to use the catkin commands
source /opt/ros/indigo/setup.bash
This is a temporary way to install the PMB-2 simulation. Soon it will be available through ROS Indigo binary packages. These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.
For a source-based installation, first create an empty workspace:
mkdir ~/pmb2_public_ws cd ~/pmb2_public_ws
Download the rosinstall and copy it in ~/pmb2_public_ws. In order to clone the required repositories do as follows:
cd ~/pmb2_public_ws rosinstall src /opt/ros/indigo pmb2_public.rosinstall
Then run this command to make sure that all dependencies are installed.
sudo rosdep init rosdep update rosdep install --from-paths src --ignore-src --rosdistro indigo --skip-keys "pal_gazebo_plugins speed_limit sensor_to_cloud"
Finally you can build the workspace and source it:
catkin build source ./devel/setup.bash
and it is ready to go!
Ubuntu installation
In order to run the public simulation of PMB-2 it is preferable to get a fresh installation of Ubuntu 16.04.4 LTS as follows
wget http://releases.ubuntu.com/16.04/ubuntu-16.04.5-desktop-amd64.iso
Use this ISO to install a fresh Ubuntu OS in your development computer. Afterwards, you can proceed installing ROS as explained in the next section.
ROS installation
Set up ROS packages sources
In order to install the required ROS packages for running PMB-2's simulation first, as explained in ROS Kinetic installation, it is required to include packages.ros.org in the debian sources:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
The set up the required keys to access the debian sources:
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
In case of getting a gpg: keyserver timed out error try the following:
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
ROS packages installation
install use the following instruction
sudo apt-get update sudo apt-get install git python-rosinstall ros-kinetic-desktop-full python-catkin-tools ros-kinetic-joint-state-controller ros-kinetic-twist-mux ros-kinetic-ompl ros-kinetic-controller-manager ros-kinetic-moveit-core ros-kinetic-moveit-ros-perception ros-kinetic-moveit-ros-move-group ros-kinetic-moveit-kinematics ros-kinetic-moveit-ros-planning-interface ros-kinetic-moveit-simple-controller-manager ros-kinetic-moveit-planners-ompl ros-kinetic-joy ros-kinetic-joy-teleop ros-kinetic-teleop-tools ros-kinetic-control-toolbox ros-kinetic-sound-play ros-kinetic-navigation ros-kinetic-eband-local-planner ros-kinetic-depthimage-to-laserscan ros-kinetic-openslam-gmapping ros-kinetic-gmapping ros-kinetic-moveit-commander
Append the following command to ~/.bashrc to allow any console to use the catkin commands
source /opt/ros/kinetic/setup.bash
Source-based installation
Currently source-based installation is provided.
These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.
First of all open a terminal and create an empty workspace:
mkdir ~/pmb2_public_ws cd ~/pmb2_public_ws
Download the pmb2_public.rosinstall and copy it in ~/pmb2_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:
cd ~/pmb2_public_ws rosinstall src /opt/ros/kinetic pmb2_public.rosinstall
Then run this command to make sure that all dependencies are installed.
sudo rosdep init rosdep update
Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed
rosdep install --from-paths src --ignore-src --rosdistro kinetic --skip-keys "pal_gazebo_plugins speed_limit_node sensor_to_cloud pmb2_rgbd_sensors pal_vo_server pal_karto pal_usb_utils pal_local_planner pal_filters hokuyo_node rrbot_launch robot_pose pal_pcl rviz_plugin_covariance pal-orbbec-openni2 slam_toolbox"
Then, you may proceed building the workspace:
source /opt/ros/kinetic/setup.bash catkin build
Once you compiled all packages and source the environment (source ~/pmb2_public_ws/devel/setup.bash) and it's all ready to go.
Not supported. Currently supported ROS LTS: indigo, kinetic.
Not supported. Currently supported ROS LTS: indigo, kinetic.
Ubuntu installation
In order to run the public simulation of PMB-2 it is preferable to get a fresh installation of Ubuntu 18.04.2 LTS as follows
wget http://releases.ubuntu.com/18.04/ubuntu-18.04.2-desktop-amd64.iso
Use this ISO to install a fresh Ubuntu OS in your development computer. Afterwards, you can proceed installing ROS as explained in the next section.
ROS installation
Set up ROS packages sources
In order to install the required ROS packages for running PMB-2's simulation first, as explained in ROS Melodic installation, it is required to include packages.ros.org in the debian sources:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
The set up the required keys to access the debian sources:
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
In case of getting a gpg: keyserver timed out error try the following:
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
ROS packages installation
install use the following instruction
sudo apt-get update sudo apt-get install git python-rosinstall ros-melodic-desktop-full python-catkin-tools ros-melodic-joint-state-controller ros-melodic-twist-mux ros-melodic-ompl ros-melodic-controller-manager ros-melodic-joy ros-melodic-joy-teleop ros-melodic-teleop-tools ros-melodic-control-toolbox ros-melodic-sound-play ros-melodic-navigation ros-melodic-eband-local-planner ros-melodic-depthimage-to-laserscan ros-melodic-openslam-gmapping ros-melodic-gmapping ros-melodic-moveit-commander
Append the following command to ~/.bashrc to allow any console to use the catkin commands
source /opt/ros/melodic/setup.bash
Source-based installation
Currently source-based installation is provided.
These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.
First of all open a terminal and create an empty workspace:
mkdir ~/pmb2_public_ws cd ~/pmb2_public_ws
Then run the following instruction in order to download common_public-melodic.rosinstall, pmb2_public-melodic.rosinstall and to clone all the required repositories within the workspace:
wget https://raw.githubusercontent.com/pal-robotics/pal_mobile_base_docker/melodic-devel/common_public-melodic.rosinstall wget https://raw.githubusercontent.com/pal-robotics/pmb2_tutorials/melodic-devel/pmb2_public-melodic.rosinstall rosinstall src /opt/ros/melodic common_public-melodic.rosinstall rosinstall src /opt/ros/melodic pmb2_public-melodic.rosinstall
Then run this command to make sure that all dependencies are installed.
sudo rosdep init rosdep update
Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed
rosdep install -y --from-paths src --ignore-src --rosdistro melodic --skip-keys "pal_gazebo_plugins speed_limit_node sensor_to_cloud pmb2_rgbd_sensors pal_vo_server pal_karto pal_usb_utils pal_local_planner pal_filters hokuyo_node rrbot_launch pal_pcl rviz_plugin_covariance pal-orbbec-openni2 slam_toolbox pal_loc_measure pal_map_manager"
Then, you may proceed building the workspace:
source /opt/ros/melodic/setup.bash catkin build -DCATKIN_ENABLE_TESTING=0 -j $(expr `nproc` / 2)
Once you compiled all packages and source the environment (source ~/pmb2_public_ws/devel/setup.bash) and it's all ready to go.
Ubuntu installation
In order to run the public simulation of PMB-2 it is preferable to get a fresh installation of Ubuntu 20.04.5 LTS as follows
wget http://releases.ubuntu.com/20.04/ubuntu-20.04.5-desktop-amd64.iso
Use this ISO to install a fresh Ubuntu OS in your development computer. Afterwards, you can proceed installing ROS as explained in the next section.
ROS installation
Set up ROS packages sources
In order to install the required ROS packages for running PMB-2's simulation first, as explained in ROS Noetic installation, it is required to include packages.ros.org in the debian sources:
sudo apt update sudo apt install lsb-release # if you haven't already installed lsb-release sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
The set up the required keys to access the debian sources:
sudo apt install curl gnupg # if you haven't already installed curl or gnupg curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
ROS packages installation
install use the following instruction
sudo apt-get update sudo apt-get install git wget python3-rosinstall ros-noetic-desktop-full python3-catkin-tools python3-rosdep python-is-python3
Append the following command to ~/.bashrc to allow any console to use the catkin commands
source /opt/ros/noetic/setup.bash
Source-based installation
Currently source-based installation is provided.
These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.
First of all, open a terminal and create an empty workspace:
mkdir ~/pmb2_public_ws cd ~/pmb2_public_ws
Then run the following instruction in order to download common_public-noetic.rosinstall, pmb2_public-noetic.rosinstall and to clone all the required repositories within the workspace:
wget https://raw.githubusercontent.com/pal-robotics/pal_mobile_base_docker/noetic-devel/common_public-noetic.rosinstall wget https://raw.githubusercontent.com/pal-robotics/pmb2_tutorials/noetic-devel/pmb2_public-noetic.rosinstall rosinstall src /opt/ros/noetic common_public-noetic.rosinstall rosinstall src /opt/ros/noetic pmb2_public-noetic.rosinstall
Then run this command to make sure that all dependencies are installed.
sudo rosdep init rosdep update
Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed
rosdep install -y --from-paths src --ignore-src --rosdistro noetic --skip-keys "urdf_test pal_filters speed_limit_node pal_usb_utils pal_pcl hokuyo_node pal-orbbec-openni2 pal_map_manager ydlidar_ros_driver"
Then, you may proceed building the workspace:
source /opt/ros/noetic/setup.bash catkin build -DCATKIN_ENABLE_TESTING=0 -j $(expr `nproc` / 2)
Once you compiled all packages and source the environment (source ~/pmb2_public_ws/devel/setup.bash) and it's all ready to go.
