Installation: Setting up basic components

This article provides a step-by-step guide to the basic setup needed to install and run the Caterros project components.

General installation & setup

Install ROS

Install and setup ROS indigo on Ubuntu 14.04. Therefore, follow the instructions from http://wiki.ros.org/indigo/Installation/Ubuntu. Recommended is to install the package ros-indigo-desktop-full.

Install additional packages

1. Install needed tools:

   sudo apt-get install ros-indigo-catkin ros-indigo-rospack python-wstool
   

2. Install rosjava:

   sudo apt-get install ros-indigo-rosjava ros-indigo-rosjava-*
   

3. Install the PR2 navigation:

   sudo apt-get install ros-indigo-pr2-navigation
   

Setup your Workspace

1. Prepare a catkin workspace for the project (see http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment for further information):

   mkdir -p ~/suturo_ws/src
   cd ~/suturo_ws/
   catkin_make
   source devel/setup.bash
   

2. Prepare another catkin workspace for the project dependencies:

   mkdir -p ~/suturo_dep/src
   cd ~/suturo_dep/
   catkin_make
   source devel/setup.bash
   

Clone repositories

Clone the git repositories of all the modules you need on your machine into the src folder of your project workspace. To run the whole project, each module is needed but they don’t have to run on the same machine. The corresponding git command is:

git clone <URL>

You can find all the URLs in the following table:

Name	SSH	HTTPS
planning	git@github.com:suturo16/planning.git	https://github.com/suturo16/planning.git
perception	git@github.com:suturo16/perception.git	https://github.com/suturo16/perception.git
knowledge	git@github.com:suturo16/knowledge.git	https://github.com/suturo16/knowledge.git
manipulation	git@github.com:suturo16/manipulation.git	https://github.com/suturo16/manipulation.git
suturo_msgs	git@github.com:suturo16/suturo_msgs.git	https://github.com/suturo16/suturo_msgs.git

After you have set up the corresponding dependencies, you can build your workspace again:

cd ~/suturo_ws/src
catkin_make

The description of the installation of each module can be found in the corresponding chapter.

suturo_msgs

This module is needed by all the other modules, so clone it first into the src folder of your project workspace.