ros_installation.md

ROS installation

For reference.

Add keys and update package manager.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update

Full install:

sudo apt-get install ros-kinetic-desktop-full

Minimum install:

sudo apt-get install ros-kinetic-ros-base

Initialize rosdep

sudo rosdep init
rosdep update

Environment setup

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

Dependencies for building packages

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

Installing ROS Pepper

sudo apt-get install ros-kinetic-pepper-.*

Go into your workspace (e.g. ~/projects/uva-robotics).
Navigate to src directory (e.g. ~/projects/uva-robotics/src).

git clone https://github.com/ros-naoqi/naoqi_driver.git
rosdep install -i -y --from-paths ./naoqi_driver
source /opt/ros/kinetic/setup.sh
cd ../ && catkin_make

Running ROS

(Pepper example)

Run the following command to run roscore:

roscore

C++ version:

roslaunch pepper_bringup pepper_full.launch nao_ip:=<yourRobotIP> roscore_ip:=<roscore_ip> [network_interface:=<eth0|wlan0|vpn0>]

Python version:

roslaunch pepper_bringup pepper_full_py.launch nao_ip:=<yourRobotIP> roscore_ip:=<roscore_ip>

Using ROS

First, make sure you are running roscore in a seperate terminal.

roscore

List all running nodes:

rosnode list

List all topics:

rostopic list

View data from topic:

rostopic echo <topic>

Run a ROS package script:

rosrun <package_name> <script_name>

Run a ROS launch file:

roslaunch <package_name> <launch_file_name>