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Installation
Ubuntu is the Linux distribution adopted by the UnBall Soccer Team because it's simple to install and use for new users, specially the ones that haven't had any previous contact with Unix/Linux.
Installing Ubuntu is straightforward and should not represent any difficulty. The steps below are guidelines for a basic installation.
- A distribution of Ubuntu Desktop can be downloaded directly from the official website. It is recommended to get Ubuntu 14.04 (Trusty Tahr version), since ROS Hydro can be easily installed through
apt-get. - Burn the
.isoimage either in a CD-ROM, DVD-ROM or flash drive. If you decide to use the flash drive approach, take a look in this tutorial on how to create a bootable USB stick on Windows. - Put the media in your computer and check whether the device comes first in the BIOS boot order. Take a look in this tutorial to learn how to change the boot order.
- The Ubuntu installation script must have initialized. Choose the preferred language, mark to download updates while installing and install third-party software and to erase the current disk. You may also manually create partitions and allocate space in disk according to your preferences.
- The installation will also require you geographic location and keyboard layout. The keyboard layout need not be the same as the selected language. For instance, if you bought your laptop in the United States, the preferred language may be Brazilian Portuguese and the keyboard layout English (US, alternative international) to allow typing accents.
- Afterwards, the installation will ask your name, the computer's name (for network identification), an username and password. Do not forget this password, since it will also be the superuser password (unless changed).
- Finally, Ubuntu will be installed. This step requires to reboot the machine when finished.
- Update all packages to its last version. You can either use the Update Manager or the commands
sudo apt-get updateandsudo apt-get upgrade.
Add the ROS Debian packages source for Ubuntu 14.04 (Trusty Tahr).
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
Setup keys
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
Update apt-get
sudo apt-get update
Install ROS Indigo full
sudo apt-get install ros-indigo-desktop-full
Initialize rosdep
sudo rosdep init
rosdep update
In order to setup environment variables, append the following to ~/.bashrc
# Sourcing ROS environment variables
source /opt/ros/indigo/setup.bash
ROS recommends the usage of catkin for building it's packages. In order to achieve this, we'll create a new directory catkin_ws, with an inner directory src and a CMakeLists.txt indicating it is a catkin workspace.
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
Also, in order to setup environment variables, append the following to ~/.bashrc. Make sure to adapt to your usage if you don't create the workspace in the ~/catkin_ws directory.
# Sourcing catkin environment variables
source ~/catkin_ws/devel/setup.sh
Whenever you clone a new ROS package to your machine, just symbolic link its directory to catkin_ws/src and run catkin_make to build. This facilitates the management of multiple ROS packages.
First of all, it's necessary to install git for it doesn't come packaged with Ubuntu.
sudo apt-get install git
Then, clone the repository to the unball folder.
git clone https://github.com/unball/ieee-very-small.git unball
Finally, let's create a symbolic link to the configured catkin workspace in order to make it properly build our package. Make sure the paths are correctly configured.
ln -s ~/unball/software/ ~/catkin_ws/src/unball
By this time, you should be able to run catkin_make in your catkin workspace (although it should probably fail without the necessary packages).
TODO
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