The page includes instructions for installing the ROS-Industrial Groovy stacks on a PC and various robot controllers.
All of the following ROS Industrial software must be installed on the ROS PC:
- ROS "Desktop Full" Install
The instructions for installing ROS on Ubuntu can be found here.
The following additional stacks may be required, depending on required functionality. See the install pages for installing each individual stack.
The ROS-Industrial stacks enable communication with an industrial robot and various other industrial hardware. There are two options for installation: binary packages and build-from-source.
Binary Package Installation (Recommended)
Binary package installation is recommended for most users. This installation can be performed from the command line using apt-get.
All released stacks: apt-get install ros-groovy-industrial-desktop
- Or by specific stack:
Industrial core: apt-get install ros-groovy-industrial-core
ABB stack: apt-get install ros-groovy-abb
Adept stack: apt-get install ros-groovy-adept
Fanuc stack: apt-get install ros-groovy-fanuc
Motoman stack: apt-get install ros-groovy-motoman
Universal robot stack: apt-get install ros-groovy-universal-robot
Source Installation (Recommended for Developers)
Installation from source is only recommended for those who want the latest (unstable) functionality or those who want to modify the ROS-Industrial packages.
Source Repository Layout
The ROS-Industrial repository is organized according to the ROS repository conventions:
/tags/ (static code snapshots) .../<stack>/ .../<stack>-X.Y.Z (versioned release. Never changes) .../<ros_release> (latest version for specified ROS release) /branches/ (dev. related to specific ROS releases) .../<ros_release> - may include bugFixes - API should be stable /trunk or devel (latest code, but possibly unstable API)
The source code repository can be found at the following URL(s):
Download source code
When installing from source, you must first decide which version to download:
Tags - provide a static code snapshot, without regular changes/updates
Select desired version under each stack
Branches - provide relatively stable code, tied to specific ROS releases
Groovy release - stable API, minimal development
Trunk/Devel - latest development code, but possibly unstable API
not compatible with this code version
Compile ROS-Industrial Stacks
Add the location of the downloaded files to the ROS_PACKAGE_PATH system variable for rosmake stacks and setup an appropriate
Run "rosmake" or in each stack directory of interest (i.e. industrial_core). The source should build with no errors.
Robot Controller Install
In addition to ROS PC installs, there is configuration and software installation required on most robot robot controllers. See the vendor specific stack tutorials for more information: