- Before you start
request to join the mailing list, put your possible meeting times in the poll, and request access to the to-do list.
If anything is unclear or you run into a problem following this tutorial, ask a question on the mailing list. If you find a problem with this documentation, submit a bug report using the issue tracker on this page.
- Install Ubuntu
Only Ubuntu 14.04.1 (Trusty) is supported. The 64-bit version is strongly recommended.
Upgrade an existing install of Ubuntu or download a CD image from http://releases.ubuntu.com/trusty/.
Using a VM is not recommended - it requires a much more powerful system and causes problems with 3D graphics.
- Install ROS Indigo
Follow all the instructions at http://wiki.ros.org/indigo/Installation/Ubuntu. Make sure to do the "Desktop-Full Install," as opposed to the "Desktop Install" or "ROS-Base."
- Make workspace
Follow all the instructions at http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment.
The linked tutorial omits this, but you have to add the following to your
.bashrc, after source /opt/ros/indigo/setup.bash (which was added during
the tutorial) in order to finish setting up your workspace:
source ~/catkin_ws/devel/setup.bash
After adding those lines to your .bashrc file, open a new shell so the
settings take effect.
- Install required packages and add required repositories
Read the README in each of the ROS package repositories at
https://github.com/uf-mil.
- https://github.com/uf-mil/rawgps-tools
- https://github.com/uf-mil/software-common
- https://github.com/uf-mil/hardware-common
- https://github.com/uf-mil/SubjuGator
- https://github.com/uf-mil/PropaGator
- https://github.com/txros/txros
The repositories have several dependencies and provide the commands you need to run to install them.
- Add uf-mil repositories
Run:
roscd && cd ../src && git clone git@github.com:uf-mil/uf-mil.git
If this fails with a "Permission denied" error, you need to create an SSH key and add it to your GitHub account.
Then, go into the uf-mil directory and type ./pull to pull the newest commits.
Add source ~/catkin_ws/src/uf-mil/bashrc to the end of ~/.bashrc and open a
new shell so the settings take effect.
- Run catkin_make
cm
This command is defined in ~/catkin_ws/src/uf-mil/bashrc and
should complete without any errors if everything works.
- Complete
At this point, you can start a roscore and try running the SubjuGator simulator with:
roscore &
rosrun subsim sim
The simulator's user interface is documented in the README file in
its package directory.
Look at the to-do list (linked at the top) to find something to work on.
- Modemmanager
Modemmanager can cause issues with using the usb ports so remove it with the following command:
sudo apt-get remove modemmanager
- gitconfig
Running git config --global merge.conflictstyle diff3 before looking at a merge conflict shows the changes relative to the common ancestor, making it possible to resolve conflicts more easily. If you already started a merge, you can run git merge --abort to abort it and then try again.
Go into ~/catkin_ws/src/uf-mil and type ./pull