$ ssh ubuntu@192.168.1.70
Setup your computer to accept software from packages.ros.org.
Ubuntu 12.10 (Quantal)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu quantal main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
First, make sure your Debian package index is up-to-date [1]:
sudo apt-get update
Installing on Ubuntu from source
I have followed the same steps as suggested at [2].
Prerequisites
Install bootstrap dependencies (Ubuntu):
$ sudo apt-get install python-rosdep python-wstool build-essential
Next ensure rosdep has been initialized:
$ sudo rosdep init $ rosdep update
Start by building the core ROS packages.
ROS is in the process of converting to a new build system, catkin, but not all of the packages have been converted 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:
$ sudo 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 wstoolcommand for the particular variant you want to install:
ROS-Comm: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
$ sudo wstool init src -j1 http://packages.ros.org/web/rosinstall/generate/raw/groovy/ros_comm
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.
(I've experimented that there are some errors such as ERROR [vcstools] Tarball download unpack failed: <urlopen error [Errno -2] Name or service not known>[/vcstools], because the system can't handle the load of running 8 simultaneous downloads wstool init src -j8, as a result, the command is modified to have -j1 [5] .)
Resolving 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:
$ rosdep install --from-paths src --ignore-src --rosdistro groovy -y
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 casesrc. 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 (and maybe some prompts for your password) rosdep will finish installing system dependencies and you can continue.
The rosdep step took an extremely long time [6].
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:
$ sudo ./src/catkin/bin/catkin_make_isolated --install
This also takes a long time. There were 45 packages to make in my case [6].
Now the packages should have been installed to ~/ros_catkin_ws/install_isolated or to wherever you specified with the --install-space argument. If you look in that directory you will see that a setup.bash file have been generated. To utilize the things installed there simply source that file. Lets do that now before building the rest of ROS:
$ source ~/ros_catkin_ws/install_isolated/setup.bash
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REFERENCES
[2] http://www.ros.org/wiki/groovy/Installation/Source
[3] http://quadrotordiaries.blogspot.mx/2012/06/installing-ros-fuerte-on-beaglebone.html
[4] http://www.mcu-turkey.com/beaglerosbone-ros-fuerte-turtle/
[5] http://answers.ros.org/question/58478/errors-while-installing-ros-groovy-on-beablebone-with-ubuntu-1210/
[6] http://instructionalrobotics.blogspot.mx/2013/02/beagleboard-c4-ros-groovy-ubuntu-1210.html
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Unknown configuration key `foreign-architecture' found in your `dpkg'
configuration files. This warning will become a hard error at a later
date, so please remove the offending configuration options and replace
them with `dpkg --add-architecture' invocations at the command line.