17 May 2011

Installing ROS (Diamondback) on Ubuntu

If you need to install from source, please see source (download-and-compile) installation instructions.
  1. Ubuntu install of Diamondback
    1. Installation
      1. Configure your Ubuntu repositories
      2. Setup your sources.list
      3. Set up your keys
      4. Installation
      5. Environment setup
    2. Tutorials


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'

Set up your keys

  • wget http://packages.ros.org/ros.key -O - | sudo apt-key add -


Make sure you have re-indexed the ROS.org server:
  • 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 stacks individually.
  • Desktop-Full Install: (Recommended): ROS, rx, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception
    • sudo apt-get install ros-diamondback-desktop-full

    Desktop Install: ROS, rx, rviz, and robot-generic libraries
    • sudo apt-get install ros-diamondback-desktop

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
    • sudo apt-get install ros-diamondback-ros-base

    Individual Stack: You can also install a specific ROS stack (replace underscores with dashes of the stack name):
    • sudo apt-get install ros-diamondback-STACK
      sudo apt-get install ros-diamondback-slam-gmapping

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

Now if you are setting ROS for localhost then add these two lines to bashrc file.
export ROS_MASTER_URI=http://localhost:11311 
export ROS_HOSTNAME=localhost

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