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Installing on Debian from SVN

Install from SVN requires that you download and compile the source code on your own.

Installation

Setup

  • sudo apt-get install build-essential python-yaml cmake subversion wget python-setuptools

If compilation bails out with the error

  • Failed to find rosdep boost for package rosout on OS:debian version:squeeze

install these packages, too:

  • liblog4cxx10-dev python-wxgtk2.8 doxygen python-epydoc graphviz libapr1-dev libwxgtk2.8-dev libaprutil1-dev python-paramiko libboost-dev libboost-thread-dev libboost-regex-dev libboost-signals-dev libboost-filesystem-dev libboost-program-options-dev libboost-iostreams-dev

The error might still be thrown, but ros ("ROS-only") builds fine.

  • [ rosmake ] Built 73 packages with 0 failures.

For the "Base Install" you additionally need package mercurial, otherwise you get

  • ERROR: woah, unknown installation method hg not installed, cannot create a hg vcs client

rosinstall

The following lines will download the ROS source code using the rosinstall tool, and bootstrap the installation. The installation downloads all ROS stacks in subdirectories inside the ~/ros directory, one subdirectory for each stack in the rosinstall file.

First install rosinstall:

  • sudo easy_install -U rosinstall

Then use rosinstall to download your preferred C-Turtle variant:

  • ROS-only: Includes basic ROS and tutorials.

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=ros_only&overlay=no"

    Base Install: ROS plus robot-generic stacks (e.g. navigation, visualization)

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=base&overlay=no"

    PR2 Install: ROS plus PR2-specific stacks, including PR2 simulator.

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=pr2&overlay=no"

    PR2 All Install: ROS plus PR2 and bleeding edge research/experimental stacks.

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=pr2all&overlay=no"

NOTE: the instructions above download all stacks inside the ~/ros folder. If you prefer a different location, simply change the ~/ros in the commands above.

Environment Setup

Shell language:   Bash     Zsh    

You'll now need to update your environment. You can do this by typing:

source ~/ros/setup.bash

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched, which you can do with the command below:

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

For Zsh users, change the last line of ~/ros/setup.zsh to

source $ROS_ROOT/tools/rosbash/roszsh

before running source ~/ros/setup.zsh Similarly, have the setup script called at the start of each new shell session with

echo "source ~/ros/setup.zsh" >> ~/.zshrc
. ~/.zshrc

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Installing on Debian from SVN

Install from SVN requires that you download and compile the source code on your own. The main supported version of Debian is "Squeeze", but it is possible that other one are working. If you plan to use a newer version like "Wheezy" or "Sid", please see the bottom paragraph.

Installation

Setup

  • sudo apt-get install build-essential python-yaml cmake subversion wget python-setuptools mercurial

It is possible that you need to add "contrib" to your /etc/apt/sources.list for some packages.

Locales

New in Diamondback

Currently, they is a known issue with locales on Diamondback : https://code.ros.org/trac/ros/ticket/3305

A workaround is possible if you do not have US locales :

  • LANG=en_US.utf-8

It will provoke svn warnings during checkout that you may ignore. Here is an example :

  • svn: warning: cannot set LC_CTYPE locale
    svn: warning: environment variable LANG is en_US.utf-8
    svn: warning: please check that your locale name is correct
    svn: warning: cannot set LC_CTYPE locale
    svn: warning: environment variable LANG is en_US.utf-8
    svn: warning: please check that your locale name is correct

rosinstall

The following lines will download the ROS source code using the rosinstall tool, and bootstrap the installation. The installation downloads all ROS stacks in subdirectories inside the ~/ros directory, one subdirectory for each stack in the rosinstall file.

First install rosinstall:

  • sudo easy_install -U rosinstall

There are many different libraries and tools in ROS. We provided four default configurations to get you started.

  • Desktop-Full Install: (Recommended): ROS Full, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=diamondback&variant=desktop-full&overlay=no"

    Desktop Install: : ROS Full, rviz, and robot-generic libraries

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=diamondback&variant=desktop&overlay=no"

    ROS-Full: ROS package, build, communication, and graphical tools.

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=diamondback&variant=ros-full&overlay=no"

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries.

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=diamondback&variant=ros-base&overlay=no"

NOTE: the instructions above download all stacks inside the ~/ros folder. If you prefer a different location, simply change the ~/ros in the commands above.

Please reference REP 108 for description of other available configurations.

Environment Setup

Shell language:   Bash     Zsh    

You'll now need to update your environment. You can do this by typing:

source ~/ros/setup.bash

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched, which you can do with the command below:

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

For Zsh users, change the last line of ~/ros/setup.zsh to

source $ROS_ROOT/tools/rosbash/roszsh

before running source ~/ros/setup.zsh Similarly, have the setup script called at the start of each new shell session with

echo "source ~/ros/setup.zsh" >> ~/.zshrc
. ~/.zshrc

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Installation on newer versions

If you are using a "Wheezy" or "Sid" version you may have to overwrite the rosinstall OS version detection, with luck it will work as in "Squeeze". Please add this to your environment variables before installing :

  • export ROS_OS_OVERRIDE=debian:squeeze

If this is not enough, you will have to customize your rosdep.yaml files. Please read http://wiki/rosdep/rosdep.yaml#Overriding_Mapping_File

Compilation failure

Since "Wheezy" and "Sid" include packages for gcc-4.6 and g++-4.6, you may find that your compilation fails if you have these versions of the compilers installed. To remedy this and successfully compile, you can add these environment variables to your session (or shell defaults, such as in ~/.bashrc).

export CC=gcc-4.5
export CXX=g++-4.5

Installing on Debian from SVN

Install from SVN requires that you download and compile the source code on your own. The main supported version of Debian is "Squeeze", but it is possible that other one are working. If you plan to use a newer version like "Wheezy" or "Sid", please see the bottom paragraph.

Installation

Setup

  • sudo apt-get install build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-pip
    sudo pip install -U pip
    sudo pip install -U rospkg

Depending on the configuration you choosed, it is possible that you need to add "contrib" to your /etc/apt/sources.list for some packages. Especially for nvidia-cg-toolkit. Don't forget to do an "apt-get update" after this change to search for the new packages !

Locales

Currently, there is a known issue with locales on Electric : https://code.ros.org/trac/ros/ticket/3305

A workaround is possible if you do not have US locales :

  • LANG=en_US.utf-8

It will provoke svn warnings during checkout that you may ignore. Here is an example :

  • svn: warning: cannot set LC_CTYPE locale
    svn: warning: environment variable LANG is en_US.utf-8
    svn: warning: please check that your locale name is correct
    svn: warning: cannot set LC_CTYPE locale
    svn: warning: environment variable LANG is en_US.utf-8
    svn: warning: please check that your locale name is correct

rosinstall

The following lines will download the ROS source code using the rosinstall tool, and bootstrap the installation. The installation downloads all ROS stacks in subdirectories inside the ~/ros directory, one subdirectory for each stack in the rosinstall file.

First install rosinstall using pip (advanced options for pip):

  • sudo pip install -U rosinstall vcstools

There are many different libraries and tools in ROS. We provided four default configurations to get you started.

  • Desktop-Full Install: (Recommended): ROS Full, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=electric&variant=desktop-full&overlay=no"

    Desktop Install: : ROS Full, rviz, and robot-generic libraries

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=electric&variant=desktop&overlay=no"

    ROS-Full: ROS package, build, communication, and graphical tools.

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=electric&variant=ros-full&overlay=no"

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries.

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=electric&variant=ros-base&overlay=no"

NOTE: the instructions above download all stacks inside the ~/ros folder. If you prefer a different location, simply change the ~/ros in the commands above.

Please reference REP 113 for description of other available configurations.

Environment Setup

Shell language:   Bash     Zsh    

You'll now need to update your environment. You can do this by typing:

source ~/ros/setup.bash

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched, which you can do with the command below:

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

For Zsh users, change the last line of ~/ros/setup.zsh to

source $ROS_ROOT/tools/rosbash/roszsh

before running source ~/ros/setup.zsh Similarly, have the setup script called at the start of each new shell session with

echo "source ~/ros/setup.zsh" >> ~/.zshrc
. ~/.zshrc

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Managing failed rosdeps

Since Debian is not officially supported it often happens that rosdep packages are not up to date. In general copy/pasting the ubuntu packages is correct (please submit patches to ROS stacks owner so they can update their code).

In some rare case it is not so simple. Here is a list of some customization you have to do to make it working :

Opencv

The opencv-2.3 package is not available on squeeze. The quicker solution is to get libcv-dev. The best solution would be to add a source tarball install in the rosdep.yaml...

=== Yaml-dev ===

Justadd to simulator_gazebo/rosdep.yaml :

  • debian: libyaml-dev

Installation on newer versions

If you are using a "Wheezy" or "Sid" version you may have to overwrite the rosinstall OS version detection, with luck it will work as in "Squeeze". Please add this to your environment variables before installing :

  • export ROS_OS_OVERRIDE=debian:squeeze

If this is not enough, you will have to customize your rosdep.yaml files. Please read http://wiki/rosdep/rosdep.yaml#Overriding_Mapping_File

Compilation failure

Since "Wheezy" and "Sid" include packages for gcc-4.6 and g++-4.6, you may find that your compilation fails if you have these versions of the compilers installed. To remedy this and successfully compile, you can add these environment variables to your session (or shell defaults, such as in ~/.bashrc).

export CC=gcc-4.5
export CXX=g++-4.5

Installing on Debian from SVN

Install from SVN requires that you download and compile the source code on your own. The main supported version of Debian is version 6, "Squeeze", but it is possible that later versions are working. If you plan to use a newer version like "Wheezy" (version 7) or "Sid" (unstable), please see the bottom paragraph.

Installation

Setup

  • sudo apt-get install build-essential python-yaml cmake subversion wget python-setuptools mercurial

Depending on the configuration you choosed, it is possible that you need to add "contrib" to your /etc/apt/sources.list for some packages. Especially for nvidia-cg-toolkit. Don't forget to do an "apt-get update" after this change to search for the new packages !

Install bootstrap dependencies:

  • sudo apt-get install build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core

Install core library dependencies (aka, 'ROS Base'):

  • sudo apt-get install python-yaml libapr1-dev libaprutil1-dev  libbz2-dev python-dev libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config python-empy swig

The Python "nose" package version 1.0 or later is required. If you are using Debian 6 (squeeze) or earlier, use pip to install it:

  • sudo apt-get install python-pip
    sudo pip install nose

Otherwise, if you are using Debian 7 (wheezy) or later, use the Debian package:

  • sudo apt-get install python-nose

Next, install graphical library dependencies, if you plan on using ROS graphical tools (aka 'ROS Full'):

  • sudo apt-get install python-wxgtk2.8 python-gtk2 python-matplotlib libwxgtk2.8-dev python-imaging libqt4-dev graphviz qt4-qmake python-numpy

Next, you must build swig-wx from source if you wish to use the graphical tools in ROS in this installation. swig-wx requires bison and the GNU autotools to build.

  • sudo apt-get install bison++ automake autoconf
    git clone https://github.com/ros/swig-wx.git
    cd swig-wx
    ./autogen.sh && ./configure && make && sudo make install

Locales

Currently, there is a known issue with Fuerte's svn scripts if you do not have US-english locales : https://code.ros.org/trac/ros/ticket/3305

A workaround is possible if you do not have US locales :

  • LANG=en_US.utf-8

It will provoke svn warnings during checkout that you may ignore. Here is an example :

  • svn: warning: cannot set LC_CTYPE locale
    svn: warning: environment variable LANG is en_US.utf-8
    svn: warning: please check that your locale name is correct
    svn: warning: cannot set LC_CTYPE locale
    svn: warning: environment variable LANG is en_US.utf-8
    svn: warning: please check that your locale name is correct

rosinstall

The following steps requires two separate installation steps and will compile ROS-related code into two separate places/layers:

  1. Download and install the underlying core ROS libraries and tools into /opt/ros/fuerte.

  2. Download and build some higher-level ROS libraries using rosmake in ~/ros.

The compiled code from (1) is installed into /opt/ros/fuerte. While it is possible to install elsewhere (e.g. /usr), this is not well tested and you will encounter various problems along the way (e.g. having to change rosinstall files, having to manually install system dependencies, etc...). Please see REP 122: Filesystem Hiearchy Layout for more detailed documentation on how the installed files are placed.

The compiled code from (2) is simply built using rosmake, which is familiar to users of previous versions of ROS. The higher-level ROS stacks are download and build in subdirectories inside the ~/ros directory.

First install rosinstall, rospkg and rosdep as described in their instructions:

If you have trouble using rosws/rosinstall, you can manually download the projects by investigating the respective rosinstall file.

Layer 1: Install core libraries

The following instructions will create a system install of the core ROS libraries and tools. The installation is done using standard CMake/make tools, so experts can adjust to their liking.

  • ROS-Full: ROS package, build, communication, tutorials and graphical tools.

    • rosinstall --catkin ~/ros-underlay http://ros.org/rosinstalls/fuerte-ros-full.rosinstall

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries.

    • rosinstall --catkin ~/ros-underlay http://ros.org/rosinstalls/fuerte-ros-base.rosinstall

For people having trouble with rosinstall or catkin on their particular OS: If you have downloaded the source files in a different way, you need to run catkin_init_workspace ~/ros-underlay. This script is part of catkin, which should by now also at least be in your workspace, you can use the script without installing catkin. It should create a suitable global CMakeLists.txt to use in the next step.

If you do not want to use catkin, follow standard cmake procedure for building cmake packages, and install the packages in the dependency order by manually checking the package.xml declarations.

Build and install the underlay into /opt/ros/fuerte:

  • cd ~/ros-underlay
    mkdir build
    cd build

Now, run cmake. The invocation depends on the platform you are on:

  • Debian-based platforms (e.g. Ubuntu, Mint) use:
    cmake .. -DCMAKE_INSTALL_PREFIX=/opt/ros/fuerte
    Other platforms use:
    cmake .. -DCMAKE_INSTALL_PREFIX=/opt/ros/fuerte -DSETUPTOOLS_DEB_LAYOUT=OFF

Finally, build + install the code:

  • make -j8
    sudo make install

Useful TIP: If you encounter problems with the make command due to "Unable to find 'swig.swg'" and "Unable to find 'python.swg'" errors then it probably due to the installation script having placed /swig at the toplevel/root directory.

To get around this problem do the following (and then restart make process as above)

cd /
sudo cp -r /swig /usr/local/share
cd ~/ros-underlay/build

Useful TIP: If you are having trouble with the make install command due to lib64 and lib problems, a work around is

cd /opt/ros/fuerte/
sudo mv lib/* lib64/
sudo rmdir lib
sudo ln -s lib64 lib

This makes the lib and the lib64 directory linked together and the make install command should work now.

Verify the installed environment:

  • . /opt/ros/fuerte/setup.sh
    which roscore

You should see:

  • /opt/ros/fuerte/bin/roscore

You can delete ~/ros-underlay now, if you wish. The ROS core libraries are now installed onto your system.

Layer 2: Higher-level robotics libraries and tools

Now it's time to create the second layer, which contains your main robotics libraries (e.g. navigation) as well as visualization tools like rviz. You will build this layer using rosmake, but it is not installed.

There are many different libraries and tools in ROS. We provided four default configurations to get you started.

NOTE: The rosinstall installation files below assume that you've installed into /opt/ros/fuerte, so you will need to change them manually if you have a different install path.

  • Desktop-Full Install: (Recommended): ROS Full, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=fuerte&variant=desktop-full&overlay=no"

    Desktop Install: : ROS Full, rviz, and robot-generic libraries

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=fuerte&variant=desktop&overlay=no"

NOTE: the instructions above download all stacks inside the ~/ros folder. If you prefer a different location, simply change the ~/ros in the commands above.

Please reference REP 113 for description of other available configurations.

Environment Setup

Shell language:   Bash     Zsh    

You'll now need to update your environment. You can do this by typing:

source ~/ros/setup.bash

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched, which you can do with the command below:

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

You'll now need to update your environment. You can do this by typing:

source ~/ros/setup.zsh

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched, which you can do with the command below:

echo "source ~/ros/setup.zsh" >> ~/.zshrc
. ~/.zshrc

Build Higher-level/tools (Layer 2)

First, initialize your rosdep. ROS Fuerte comes with rosdep 2. If you get a message that your default sources list exists, then don't worry as it means you've done this before.

  • sudo rosdep init
    rosdep update

Now, use rosdep 2 to install system dependencies. Many of the system dependencies will install into /opt/ros/fuerte and will not be usable if you have changed the installation prefix.

  • rosdep install -a

Useful TIP: to get rid of constant prompts of being sure with proceeding, you can use -y switch to tell the package manager to default 'Yes' while installing.

  • rosdep install -ay

Finally, build the ROS stacks using rosmake.

  • rosmake -a

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Installation on newer versions

If you are using a "Wheezy" or "Sid" version you may have to overwrite the rosinstall OS version detection, with luck it will work as in "Squeeze". Please add this to your environment variables before installing :

  • export ROS_OS_OVERRIDE=debian:squeeze

If this is not enough, you will have to customize your rosdep.yaml files. Please read http://wiki/rosdep/rosdep.yaml#Overriding_Mapping_File

Compilation failure

Since "Wheezy" and "Sid" include packages for gcc-4.6 and g++-4.6, you may find that your compilation fails if you have these versions of the compilers installed. To remedy this and successfully compile, you can add these environment variables to your session (or shell defaults, such as in ~/.bashrc).

export CC=gcc-4.5
export CXX=g++-4.5

Work in progress Not yet completed. A quick answer is here: http://answers.ros.org/question/51953/debian-source-install-groovy/

Debian Testing install of ROS Groovy

The following HOW-TO was tested only on Debian Testing (Jessie), as of August 2013. If you want to improve this how-to, feel free to edit this page.

As binary packages are not provided for Debian, you need to download and compile the source code of most packages on your own.

Prerequisites

There are two ways to install the core ROS packages: using apt-get, as explained by this guide, or pip. Remember that you can't use both pip and apt-get, because packages are in conflict. If you have already installed some package from pip and you want to follow this guide, be sure to correctly uninstall all previous version of the installed packages

Configure your Debian repositories

Setup your computer to accept software from packages.ros.org:

  • $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu wheezy 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

First of all, make sure your Debian package index is up to date:

  • $ sudo apt-get update

Then, install the bootstrap dependencies and checkinstall:

  • $ sudo apt-get install python-rosdep python-rosinstall-generator python-wstool build-essential checkinstall

Installation

Building the catkin Packages

ROS is in the process of converting itself to a new build system, called catkin. At this moment, not all of the packages have been converted to the new system, and the two build systems cannot be used simultaneously. Therefore it is necessary to build the core ROS packages first (catkin packages) and then the rest.

Create a catkin Workspace

In order to build the core packages, you will need a catkin workspace. Create one now:

  • $ mkdir ~/ros_catkin_ws
    $ cd ~/ros_catkin_ws

Next we will want to fetch the core packages so we can build them. We will use wstool for this. Select the wstool command for the particular variant you want to install:

Desktop-Full Install: ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

  • $ rosinstall_generator desktop-full --rosdistro groovy --deps --wet-only > groovy-desktop-full-wet.rosinstall
    $ wstool init -j8 src groovy-desktop-full-wet.rosinstall

Desktop Install (recommended): ROS, rqt, rviz, and robot-generic libraries

  • $ rosinstall_generator desktop --rosdistro groovy --deps --wet-only > groovy-desktop-wet.rosinstall
    $ wstool init -j8 src groovy-desktop-wet.rosinstall

ROS-Comm: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

  • $ rosinstall_generator ros_comm --rosdistro groovy --deps --wet-only > groovy-ros_comm-wet.rosinstall
    $ wstool init -j8 src groovy-ros_comm-wet.rosinstall

This will add all of the catkin or wet packages in the given variant and then fetch the sources into the ~/ros_catkin_ws/src directory. The command will take a few minutes to download all of the core ROS packages into the src folder. The -j8 option downloads 8 packages in parallel.

Resolving Dependencies

Before you can build your catkin workspace you need to make sure that you have all the required dependencies. We will use the rosdep tool and checkinstall for this.

Install Collada Dom

collada-dom-dev is a required dependency which is unfortunately not part of the Debian repositories. You should install it by yourself. We suggest to use the checkinstall tool to make it easy and clean to uninstall the package later.

  1. download the collada-dom compressed file (tarball) from the official website

  2. extract it in a folder ($COLLADA_FOLDER)

  3. issue the following command from a terminal:
    cd $COLLADA_FOLDER; cmake .; make; sudo checkinstall make install

When check install runs you may need to update the package name from "collada-dom" to "collada-dom-dev" otherwise the rosdep install may fail to find it.

Run rosdep

Now, we can run rosdep to download and install all the others dependencies:

  • $ rosdep install --from-paths src --ignore-src --rosdistro groovy -y -r

The only difference with the Ubuntu source installation is the -r parameter, that allows rosdep to continue his work despite errors. This is needed as rosdep can fail to detect some correctly installed deb due to differences in the names: we need to ignore those errors and continue the installation.

Building the catkin Workspace

Once it has completed downloading the packages and resolving the dependencies you are ready to build the catkin packages. We will use the catkin_make_isolated command because there are both catkin and plain cmake packages in the base install, when developing on your catkin only workspaces you should use catkin/commands/catkin_make.

Invoke catkin_make_isolated:

To install it in /opt/ros/groovy

  • $ ./src/catkin/bin/catkin_make_isolated --install --install-space /opt/ros/groovy

if you install in /opt/ros/groovy, remember that you must have permission to write files in that folder.

To install it in the install_isolated folder, inside the catkin workspace:

  • $ ./src/catkin/bin/catkin_make_isolated --install

Now source the setup.bash file in your installation directory to setup your envirorment. You can run one of the following commands:

if you have installed ROS in /opt/ros/groovy

  • $ echo "source /opt/ros/groovy/setup.bash" >> ~/.bashrc

if you have installed ROS in install_isolated folder:

  • $ echo "source ~/ros_catkin_ws/install_isolated/setup.bash" >> ~/.bashrc

Known Issues

There may be some issues when compiling some ROS packages, for which some workaround is here provided. Some of them are a bit quick and dirty: if you have more elegant solutions, feel free to update this page.

  • qt_gui_cpp doesn't find ShibokenConfig-python3.2.cmake. For debian amd64 installation just run:

    $ sudo ln -s /usr/lib/x86_64-linux-gnu/cmake/Shiboken-1.1.2/ShibokenConfig.cpython-33m.cmake /usr/lib/x86_64-linux-gnu/cmake/Shiboken-1.1.2/ShibokenConfig-python3.2.cmake
  • qt_gui_cpp compilation stops for a missing shared library "libpython3.3m.so". For debian amd64 installation just run:

    $ sudo ln -s /usr/lib/x86_64-linux-gnu/libpython3.3m.so.1 /usr/lib/x86_64-linux-gnu/libpython3.3m.so
  • rosbag doesn't compile. Simply edit the line reported in the compiler error in the rosbag sources, removing the constant namespace qualifier (in this case boost: )

Build the rosbuild Packages

Now that you have the catkin ROS packages built and sourced, you can build any of the packages and stacks using the rosbuild build system. See the paragraph on the Ubuntu installation tutorial for this.

Hydro Full Install on Debian from source

There are no precompiled binaries of ROS for Debian, while it seems that most of the dependencies are being pulled into the main repositories there are still some missing so compiling requires that the dependencies be made from source as well. This tutorial goes through an example of doing this for a machine running Debian Wheezy.

Configure your Debian repositories Setup your computer to accept software from packages.ros.org:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu wheezy main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys:

wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -

Refresh:

sudo apt-get update

Prerequisites

Install bootstrap dependencies :

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

Next ensure rosdep has been initialized:

sudo rosdep init
rosdep update

Create a catkin Workspace

In order to build the core packages, you will need a catkin work-space. Create one now:

mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws

Next we will want to fetch the core packages so we can build them. We will use wstool for this. Select the wstool command for the particular variant you want to install: Desktop-Full Install: ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

rosinstall_generator desktop_full --rosdistro hydro --deps --wet-only > hydro-desktop-full-wet.rosinstall
wstool init -j8 src hydro-desktop-full-wet.rosinstall

This will add all of the catkin or wet packages in the given variant and then fetch the sources into the ~/ros_catkin_ws/src directory. The command will take a few minutes to download all of the core ROS packages into the src folder. The -j8 option downloads 8 packages in parallel. The time out is fairly quick, so if you have download cuts out restart it with the following

wstool update -j 4 -t src

Resolving Dependencies

Before you can build your catkin work-space you need to make sure that you have all the required dependencies. We use the rosdep tool for this:

rosdep install --from-paths src --ignore-src --rosdistro hydro -y -r --os=debian:wheezy

This will look at all of the packages in the src directory and find all of the dependencies they have. Then it will recursively install the dependencies.

  • The --from-paths option indicates we want to install the dependencies for an entire directory of packages, in this case src.

  • The --ignore-src option indicates to rosdep that it shouldn't try to install any ROS packages in the src folder from the package manager, we don't need it to since we are building them ourselves.

  • The --rosdistro option is required because we don't have a ROS environment setup yet, so we have to indicate to rosdep what version of ROS we are building for.

  • The -y option indicates to rosdep that we don't want to be bothered by too many prompts from the package manager. After a while (and maybe some prompts for your password) rosdep will finish installing system dependencies and you can continue.

  • The -r flag causes rosdep to ignore minor errors. This is necessary to get the base dependencies installed. After the packages following this section have been installed it would be a good idea to run this command again without the -r to see if there are any dependencies that you forgot or didn't have in your base system (i.e. packages different from what the author of this tutorial had installed).
  • The --os flag was necessary for the author because of differences in the way that the wheezy version of debian stores version information and what rosdep is expecting. If you are having trouble with any of the dependencies rosdep is supposed to get, make sure that you have the package name right by getting the rosdep base.yaml from this http://docs.ros.org/independent/api/rosdep/html/contributing_rules.html

Once all of the dependencies below are installed you should be able to run rosdep install excluding the -r option without errors by makeing sure all your dependencies are listed in the base.yaml.

Dependencies not available in the Debian Repositories

At the time this article was written (11/2013) the packages for the following libraries did not exist in the Debian stable repository. Collada and Point cloud needed to be downloaded from their respective developers and compiled. Bullet and Python kitchen are available in the testing/experimental repositories and directions are given to back-port them. Please update this tutorial by removing these steps if you notice that they become available in stable.

One place to do this is in a external folder in your catkin work-space. Also install checkinstall.

mkdir ~/ros_catkin_ws/external_src
sudo apt-get install checkinstall

Experimental Dependencies

If you are running Debian wheezy instead of testing or unstable, you need to get some packages that are only available there. These packages in stable and testing/unstable are often not binary compatible so they need to be back-ported as in the following directions.

Get the unstable source in your apt repository lists.

sudo sh -c 'echo "deb-src http://ftp.us.debian.org/debian unstable main contrib non-free" >> /etc/apt/sources.list'

Add the wheezy-backports repository in your apt repository lists.

sudo sh -c 'echo "deb http://ftp.us.debian.org/debian wheezy-backports main" >> /etc/apt/sources.list'
sudo apt-get update

Installing python-kitchen

apt-get install python-kitchen

Installing Bullet

cd ~/ros_catkin_ws/external_src
mkdir backports
cd backports
sudo apt-get build-dep libbullet-dev
sudo apt-get -b source libbullet-dev
sudo dpkg -i *.deb

Installing Point Cloud

Install the point cloud libraries from a PPA

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key 19274DEF
sudo echo "deb http://ppa.launchpad.net/v-launchpad-jochen-sprickerhof-de/pcl/ubuntu maverick main" >> /etc/apt/sources.list
sudo apt-get update
sudo apt-get install libpcl-all

Install Collada Dom

Download the collada-dom compressed file (tarball) from the official website.

cd ~/ros_catkin_ws/external_src
mv ~/Downloads/collada-dom-2.4.0.tgz .
tar -xzf collada-dom-2.4.0.tgz
cd collada-dom-2.4.0
sudo apt-get install libxml2-dev
cmake .
make
sudo checkinstall make install

When check-install asks for documentation you need to update the package name from "collada-dom" to "collada-dom-dev" otherwise the rosdep install wont find it.

Installing Gazebo

Player Dependency

Download: http://sourceforge.net/projects/playerstage

Implement this fix: http://sourceforge.net/mailarchive/forum.php?thread_name=From_noreply%40sourceforge.net_Sat_Jul_07_17%3A37%3A11_2012&forum_name=playerstage-developers (In our case, filepath is ~/ros_catkin_ws/external_src/player-3.0.2/server/drivers/shell/readlog.cc)

cd ~/ros_catkin_ws/external_src
mv ~/Downloads/player-3.0.2.tar.gz .
tar -xzf player-3.0.2.tar.gz
#fix players libz bug
cd player-3.0.2/
cmake .
make
sudo checkinstall make install

sdformat dependency

Download sdformat via Mercurial. So install Mercurial if you do not have it already:

sudo apt-get install mercurial

cd ~/ros_catkin_ws/external_src
hg clone https://bitbucket.org/osrf/sdformat sdformat
cd sdformat
cmake .
make
sudo checkinstall make install

Build Gazebo

Install build dependencies:

sudo apt-get install build-essential libtinyxml-dev libtbb-dev libxml2-dev libqt4-dev pkg-config  libprotoc-dev libfreeimage-dev libprotobuf-dev protobuf-compiler libboost-all-dev freeglut3-dev cmake libogre-dev libtar-dev libcurl4-openssl-dev libcegui-mk2-dev libopenal-dev

cd ~/ros_catkin_ws/external_src
hg clone https://bitbucket.org/osrf/gazebo gazebo
cd gazebo
hg up gazebo_1.9
cmake .
make
sudo checkinstall make install

Building Ros

Finally run the build and install command. To install somewhere other than your home directory use the --install-space option.

cd ~/ros_catkin_ws
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
echo "source ~/ros_catkin_ws/install_isolated/setup.bash" >> ~/.bashrc

Note: You might want to select a different CMake build type (e.g. RelWithDebInfo or Debug, see http://cmake.org/cmake/help/v2.8.12/cmake.html#variable:CMAKE_BUILD_TYPE).

Now you have to reboot.

Report a Bug

<<TracLink(REPO COMPONENT)>>

(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Installing ROS Indigo on Debian Wheezy

Description: These are instructions to install Indigo on Debian Wheezy.

Keywords: Debian, Setup, Indigo

Tutorial Level: BEGINNER

Introduction

This tutorial explains how to install ROS Indigo from source on Debian Wheezy. The instructions roughly follow the source installation on Raspbian OS (which is also Debian-based). However, a few dependencies need to be accounted spcifically for Debian Wheezy.

Prerequisites

These instructions assume that Debian (wheezy) is being used. The download page for current images of Debian Wheezy is https://www.debian.org/releases/stable/debian-installer/.

Setup ROS Repositories

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

Enable Wheezy backports repository

Backports are packages from testing or unstable versions od Debian ported back to the stable version to allow access to cutting-edge versions of software on an otherwise stable system.

$ sudo sh -c 'echo "deb http://http.debian.net/debian wheezy-backports main" > /etc/apt/sources.list.d/backports.list'

Now, make sure your Debian package index is up-to-date:

$ sudo apt-get update
$ sudo apt-get upgrade

Install bootstrap dependencies

$ sudo apt-get install python-setuptools
$ sudo easy_install pip
$ sudo pip install -U rosdep rosinstall_generator wstool rosinstall

Initializing rosdep

$ sudo rosdep init
$ rosdep update

Installation

Now we will download and build ROS Indigo.

Create a catkin Workspace

In order to build the core packages, you will need a catkin workspace. Create one now:

$ mkdir ~/ros_catkin_ws
$ cd ~/ros_catkin_ws

Next we will want to fetch the core packages so we can build them. We will use wstool for this. Select the wstool command for the particular variant you want to install:

ROS-Comm: (recommended) ROS package, build, and communication libraries. No GUI tools.

  • $ rosinstall_generator ros_comm --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-ros_comm-wet.rosinstall
    $ wstool init -j8 src indigo-ros_comm-wet.rosinstall

Desktop: ROS, rqt, rviz, and robot-generic libraries

  • $ rosinstall_generator desktop --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-desktop-wet.rosinstall
    $ wstool init -j8 src indigo-desktop-wet.rosinstall

This will add all of the catkin or wet packages in the given variant and then fetch the sources into the ~/ros_catkin_ws/src directory. The command will take a few minutes to download all of the core ROS packages into the src folder. The -j8 option downloads 8 packages in parallel.

Note: The roslisp package is excluded in these generators because it is not tested. If it works for you, please edit this tutorial.

So far, only these two variants have been tested on Debian Wheezy in Indigo; however, more are defined in REP 131 such as robot, perception, etc. Just change the package path to the one you want, e.g., for robot do:

$ rosinstall_generator robot --rosdistro indigo --deps --wet-only --tar > indigo-robot-wet.rosinstall
$ wstool init -j8 src indigo-robot-wet.rosinstall

Please feel free to update these instructions as you test more variants.

If wstool init fails or is interrupted, you can resume the download by running:

wstool update -j 4 -t src

Resolve Dependencies

Before you can build your catkin workspace you need to make sure that you have all the required dependencies. We use the rosdep tool for this, however, first, a couple of dependencies not available in the repositories must be manually built.

Dependencies not available in the Debian Wheezy branch

At the time this article was written (01/2015) several packages: libconsole-bridge-dev, liburdfdom-headers-dev, liburdfdom-dev, liblz4-dev, and collada-dom-dev are not in the Debian stable branch, and libopencv-dev and OGRE are old versions. The following are needed for each variant:

  • Needed for Ros_Comm: libconsole-bridge-dev and liblz4-dev

  • Needed for Desktop: libconsole-bridge-dev, liblz4-dev, liburdfdom-headers-dev, liburdfdom-dev, collada-dom-dev and OGRE and libopencv-dev

These packages can be built from source in a new directory (Also install checkinstall and cmake):

  • $ mkdir ~/ros_catkin_ws/external_src
    $ sudo apt-get install checkinstall cmake

libconsole-bridge-dev: Install with the following:

  • $ cd ~/ros_catkin_ws/external_src
    $ sudo apt-get install libboost-system-dev libboost-thread-dev
    $ git clone https://github.com/ros/console_bridge.git
    $ cd console_bridge
    $ cmake .
    $ sudo checkinstall make install
    • When check-install asks for any changes, the name (2) needs to change from "console-bridge" to "libconsole-bridge-dev" otherwise rosdep install wont find it. You can also skip generating documentation.

liburdfdom-headers-dev: Install with the following:

  • $ cd ~/ros_catkin_ws/external_src
    $ git clone https://github.com/ros/urdfdom_headers.git
    $ cd urdfdom_headers
    $ cmake .
    $ sudo checkinstall make install
    • When check-install asks for any changes, the name (2) needs to change from "urdfdom-headers" to "liburdfdom-headers-dev" otherwise rosdep install wont find it.

liburdfdom-dev: Install with the following:

  • $ cd ~/ros_catkin_ws/external_src
    $ sudo apt-get install libboost-test-dev libtinyxml-dev
    $ git clone https://github.com/ros/urdfdom.git
    $ cd urdfdom
    $ cmake .
    $ sudo checkinstall make install
    • When check-install asks for any changes, the name (2) needs to change from "urdfdom" to "liburdfdom-dev" otherwise rosdep install wont find it.

collada-dom-dev: Install with the following (Note: You will also need to patch collada_urdf as described here):

  • $ cd ~/ros_catkin_ws/external_src
    $ sudo apt-get install libboost-filesystem-dev libxml2-dev
    $ wget http://downloads.sourceforge.net/project/collada-dom/Collada%20DOM/Collada%20DOM%202.4/collada-dom-2.4.0.tgz
    $ tar -xzf collada-dom-2.4.0.tgz
    $ cd collada-dom-2.4.0
    $ cmake .
    $ sudo checkinstall make install
    • When check-install asks for any changes, the name (2) needs to change from "collada-dom" to "collada-dom-dev" otherwise rosdep install wont find it.

libopencv-dev: Install with the following (be prepared it's gonna take more than an hour; based on http://docs.opencv.org/doc/tutorials/introduction/linux_install/linux_install.html):

  • $ cd ~/ros_catkin_ws/external_src
    $ git clone https://github.com/Itseez/opencv.git
    $ mkdir opencv/release
    $ cd opencv/release
    $ cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..
    $ make
    $ sudo checkinstall make install
    • When check-install asks for any changes, the name (2) needs to change from "release" to "libopencv-dev" otherwise rosdep install wont find it.
    • If you have some problems compiling the newest OpenCV, you can try to compile a release version by switching to the 2.4 branch. After git clone, type git checkout 2.4.

    • Also, if there is an existing installation of OpenCV 2.3 on the system, you may have to first uninstall it to avoid compilation and installation problems.

liblz4-dev: Install using Wheezy backports:

  • $ sudo apt-get -t wheezy-backports install liblz4-dev

OGRE: Install newer version through apt-get

  • $ sudo apt-get remove libogre-1.7.*
    $ sudo apt-get install libogre-1.8-dev

Note: If you don't want to compile Collada but would like to install the desktop variant, use the following generator:

$ rosinstall_generator desktop --rosdistro indigo --deps --wet-only --exclude roslisp collada_parser collada_urdf --tar > indigo-desktop-wet.rosinstall

Resolving Dependencies with rosdep

The remaining dependencies should be resolved by running rosdep:

$ cd ~/ros_catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro indigo -y -r --os=debian:wheezy

This will look at all of the packages in the src directory and find all of the dependencies they have. Then it will recursively install the dependencies.

The --from-paths option indicates we want to install the dependencies for an entire directory of packages, in this case src. The --ignore-src option indicates to rosdep that it shouldn't try to install any ROS packages in the src folder from the package manager, we don't need it to since we are building them ourselves. The --rosdistro option is required because we don't have a ROS environment setup yet, so we have to indicate to rosdep what version of ROS we are building for. Finally, the -y option indicates to rosdep that we don't want to be bothered by too many prompts from the package manager.

After a while rosdep will finish installing system dependencies and you can continue.

Note: Rosdep and apt-get may report that python-rosdep, python-catkin-pkg, python-rospkg, and python-rosdistro failed to install; however, you can ignore this error because they have already been installed with pip.

Building the catkin Workspace

Once you have completed downloading the packages and have resolved the dependencies, you are ready to build the catkin packages.

Invoke catkin_make_isolated:

$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo

Note: This will install ROS in the equivalent file location to Ubuntu in /opt/ros/indigo however you can modify this as you wish.

Now ROS should be installed! Remember to source the new installation:

$ source /opt/ros/indigo/setup.bash

Maintaining a Source Checkout

Updating the workspace

See the Ubuntu source install instructions for steps on updating the ros_catkin_ws workspace. The same steps should apply to Debian Wheezy.

Adding released packages

You may add additional packages to the installed ros workspace that have been released into the ros ecosystem. First, a new rosinstall file must be created including the new packages (Note, this can also be done at the initial install). For example, if we have installed ros_comm, but want to add ros_control and joystick_drivers, the command would be:

$ cd ~/ros_catkin_ws
$ rosinstall_generator ros_comm ros_control joystick_drivers --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-custom_ros.rosinstall

You may keep listing as many ROS packages as you'd like separated by spaces.

Next, update the workspace with wstool:

$ wstool merge -t src indigo-custom_ros.rosinstall
$ wstool update -t src

After updating the workspace, you may want to run rosdep to install any new dependencies that are required:

$ rosdep install --from-paths src --ignore-src --rosdistro indigo -y -r --os=debian:wheezy

Finally, now that the workspace is up to date and dependencies are satisfied, rebuild the workspace:

$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo

References

Debian install of ROS Kinetic

We are building Debian packages for Debian Jessie. These packages are more efficient than source-based builds and are our preferred installation method for Debian. Note that there are also packages available from Debian upstream. Please see UpstreamPackages to understand the difference.

Debian packages are built for the following distros and architectures.

Distro

amd64

i386

armhf

arm64

Jessie

X

X

If you need to install from source (not recommended), please see source (download-and-compile) installation instructions.

If you rely on these packages, please support OSRF.

These packages are built and hosted on infrastructure maintained and paid for by the Open Source Robotics Foundation, a 501(c)(3) non-profit organization. If OSRF were to receive one penny for each downloaded package for just two months, we could cover our annual costs to manage, update, and host all of our online services. Please consider donating to OSRF today.

Installation

Configure your Debian repositories

Configure your Debian repositories to allow "contrib" and "non-free". You can follow the Debian guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org. ROS Kinetic ONLY supports Jessie (Debian 8) for debian packages.

  • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Mirrors

Source Debs are also available

Set up your keys

  • sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Installation

First, make sure your Debian package index is up-to-date:

  • sudo apt-get update

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.

  • Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

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

      or click here

    Desktop Install: ROS, rqt, rviz, and robot-generic libraries

    • sudo apt-get install ros-kinetic-desktop

      or click here

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

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

      or click here

    Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):

    • sudo apt-get install ros-kinetic-PACKAGE
      e.g.
      sudo apt-get install ros-kinetic-slam-gmapping

To find available packages, use:

apt-cache search ros-kinetic

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.

sudo rosdep init
rosdep update

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/kinetic/setup.bash" >> ~/.bashrc
source ~/.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, instead of the above you can type:

source /opt/ros/kinetic/setup.bash

If you use zsh instead of bash you need to run the following commands to set up your shell:

echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

Dependencies for building packages

Up to now you have installed what you need to run the core ROS packages. To create and manage your own ROS workspaces, there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.

To install this tool and other dependencies for building ROS packages, run:

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

Build farm status

The packages that you installed were built by the ROS build farm. You can check the status of individual packages here.

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Debian install of ROS Lunar

We are building Debian packages for Debian Stretch. These packages are more efficient than source-based builds and are our preferred installation method for Debian. Note that there are also packages available from Debian upstream. Please see UpstreamPackages to understand the difference.

Debian packages are built for the following distros and architectures.

Distro

amd64

armhf

arm64

Stretch

X

X

If you need to install from source (not recommended), please see source (download-and-compile) installation instructions.

If you rely on these packages, please support OSRF.

These packages are built and hosted on infrastructure maintained and paid for by the Open Source Robotics Foundation, a 501(c)(3) non-profit organization. If OSRF were to receive one penny for each downloaded package for just two months, we could cover our annual costs to manage, update, and host all of our online services. Please consider donating to OSRF today.

Installation

Configure your Debian repositories

Configure your Debian repositories to allow "contrib" and "non-free". You can follow the Debian guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org. ROS Lunar ONLY supports Stretch (Debian 9) for debian packages.

  • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Mirrors

Source Debs are also available

Set up your keys

  • sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Installation

First, make sure your Debian package index is up-to-date:

  • sudo apt-get update

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.

  • Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

    • sudo apt-get install ros-lunar-desktop-full

      or click here

    Desktop Install: ROS, rqt, rviz, and robot-generic libraries

    • sudo apt-get install ros-lunar-desktop

      or click here

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

    • sudo apt-get install ros-lunar-ros-base

      or click here

    Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name):

    • sudo apt-get install ros-lunar-PACKAGE
      e.g.
      sudo apt-get install ros-lunar-slam-gmapping

To find available packages, use:

apt-cache search ros-lunar

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.

sudo rosdep init
rosdep update

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/lunar/setup.bash" >> ~/.bashrc
source ~/.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, instead of the above you can type:

source /opt/ros/lunar/setup.bash

If you use zsh instead of bash you need to run the following commands to set up your shell:

echo "source /opt/ros/lunar/setup.zsh" >> ~/.zshrc
source ~/.zshrc

Dependencies for building packages

Up to now you have installed what you need to run the core ROS packages. To create and manage your own ROS workspaces, there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.

To install this tool and other dependencies for building ROS packages, run:

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

Build farm status

The packages that you installed were built by the ROS build farm. You can check the status of individual packages here.

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.


2018-06-18 22:57