Install Software on your Netbook (Existing Ubuntu Installation)
Contents
Overview
These instructions will guide you through installing the TurtleBot software on a netbook with Ubuntu already installed.
Setup a User Account
To create a "turtlebot" user account:
sudo adduser turtlebot
Installing ROS
Configure your Ubuntu repositories
Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.
Setup your sources.list
Setup your computer to accept software from ROS.org.
Ubuntu 10.04 (Lucid)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu lucid main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu 10.10 (Maverick)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu maverick main" > /etc/apt/sources.list.d/ros-latest.list'
Ubuntu 11.04 (Natty)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu natty main" > /etc/apt/sources.list.d/ros-latest.list'
Set up your keys
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
Installation
Make sure you have re-indexed the ROS.org server:
sudo apt-get update
Install SSH to allow remote connections and install your TurtleBot software:
sudo apt-get install ros-diamondback-turtlebot-robot
Environment setup
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/diamondback/setup.bash" >> ~/.bashrc . ~/.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:
source /opt/ros/diamondback/setup.bash
Configure Upstart
It is recommended to use Upstart to start your robot:
roscd turtlebot_bringup/upstart sudo ./install wlan0
You should replace wlan0 with the name of your wifi interface.
Network Time Protocol
Clock synchronization is important for ROS. Chrony has been found to be the best ntp client over lossy wireless. In case of robot behaves strange when messages are sent from PC application(like rviz, rqt, or ros node running in PC), you need clock synchronization.
- Install Chrony
sudo apt-get install chrony
- manually sync NTP
sudo ntpdate ntp.ubuntu.com