ROS installation (Ubuntu install of ROS Kinetic)

Step 1 go to website http://wiki.ros.org/kinetic/Installation/Ubuntu ---read all instructions

Setup your sources.list

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

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

Set up your keys

• • sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command.

Alternatively, you can use curl instead of the apt-key command, which can be helpful if you are behind a proxy server:

• • curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -

Installation

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

• • sudo apt-get update

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

To find available packages, use:

apt-cache search ros-kinetic

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

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 install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

Initialize rosdep

Before you can use many ROS tools, 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. If you have not yet installed rosdep, do so as follows.

sudo apt install python-rosdep

With the following, you can initialize rosdep.

sudo rosdep init rosdep update

Test -- - run on terminal sudo roscore

for TTS

sudo apt-get install bison

sudo apt-get install libssl0.9.8

sudo apt-get install libncurses5-dev

sudo apt-get install libssl-dev

sudo apt-get install festival

sudo apt-get install ros-kinetic-audio-common

1st three steps are commands to install AIML package in python

git clone https://github.com/qboticslabs/pyaiml

cd pyaiml/

sudo python setup.py install

catkin_create_pkg ros_aiml rospy std_msgs sound_play

cd ros_aiml/

cd src

Copy and paste in src the following folders and files: data, scripts, launch, CMakeList.txt,

package.xml of the ros_aiml folder of chapter 3 in

https://github.com/qboticslabs/ros_robotics_projects

8. cd ..

9. Delete CMakeList.txt and package.xml outside src

run catkin_make in ros_aiml folder

10. catkin_make

11. source devel/setup.bash

The output of the following command is ros_aiml/src. This means the installation is done

correctly. Otherwise, there is a problem with above steps and installation is not done correctly.

12. roscd ros_aiml

13. cd launch

Set the aiml path in all the launch files in launch folder to path of aiml data folder i.e. for

example /home/nertu/ros_aiml/src/data

14. cd ..

Commands 15 to 19 make both the python files and launch files executable

15. cd scripts/

16. sudo chmod +x *.py

17. cd ..

18. cd launch/

19. sudo chmod +x *.launch

20. roscd ros_aiml/

21. roslaunch ros_aiml start_tts_chat.launch

22. Ctrl+c and press Enter to Shutdown the ROS node.

Note : every time 3 commands use for running the script in ROS

cd ros_aiml

source devel/setup.bash

roscd ros_aiml/

roslaunch ros_aiml start_tts_chat.launch

***it is given for pip ....similar for the pip3

sudo apt-get install libasound-dev

pip install PyAudio==0.2.11

pip install webrtcvad==2.0.10

pip install halo==0.0.18

pip install numpy==1.16.0

pip install tensorflow==2.1.0

pip install six==1.11.0

pip3 install six==1.11.0

pip3 install tensorflow==2.1.0

sudo apt-get install python-pyaudio

chmod 777 *.sh

chmod 777 *.pl

ROS Un-installation (Ubuntu install of ROS Kinetic)

sudo apt-get remove ros-kinetic-desktop-full

sudo apt-get remove gazebo*

sudo apt autoremove

sudo apt-get remove gazebo-*