These instructions cover installing PR2-related ROS Hydro software on a supported Ubuntu-based machine. For more an overview of PR2 software and ROS, please see the PR2 software overview. For specific instructions on how to install software directly on a real PR2, please see the PR2 Support Site and the FAQ about the WG->CpR PR2 Transition.
Configure your Ubuntu repositories
Configure your Ubuntu repositories to allow "restricted", "universe", and "multiverse". Also make sure to have "recommended updates" enabled. You can follow the Ubuntu guide for instructions on doing this.
Setup your sources.list
Note that this is for installing the PR2 ROS debians and does not contain instructions for setting up the real PR2. Setup your computer to accept software from packages.ros.org and Clearpath Robotics. ROS Hydro ONLY supports Precise, Quantal, and Raring for debian packages.
Ubuntu 12.04 (Precise)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu 12.10 (Quantal)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu quantal main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu 13.04 (Raring)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu raring main" > /etc/apt/sources.list.d/ros-latest.list'
You could also use a geographically closer mirror from the following page but you might want to check how up-to-date it is: ROS/Installation/UbuntuMirrors
Get released packages earlier
After a new version of a package has been released it takes some time until it gets synced into the public repositories referenced above. This is mostly to give it some soak time and check for regressions.
If you don't want to wait for the sync but want to use the latest-and-greatest version of ROS packages (even if that might sometime get you unstable packages) you can switch to a different apt repository. You need to change the above entry to use the following URL instead:
Set up your keys
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
Make sure you have re-indexed the ROS.org server:
sudo apt-get update
NOTE: You will get a prompt about hddtemp when you do the install below: you can safely answer no to the prompt if you are not installing on an actual PR2. To avoid getting the prompt, you can set the debconf selection ahead of time:
echo "hddtemp hddtemp/daemon boolean false" | sudo debconf-set-selections
Installing the PR2 Desktop metapackage will bring in all the necessary desktop packages for interacting with the PR2 and running the simulator:
sudo apt-get install ros-hydro-pr2-desktop
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/hydro/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:
PR2 Environment (For the real robot)
To source your PR2 to Hydro, run these commands in this sequence:
sudo robot hydro