Download IRI ROS software

From WikIRI

back to IRI ROS page

First of all, install rosinstall

iri-ros-pkg can not be used just by downloading the repo. You need rosinstall tool to handle your checkout. To install this tool, please do:

# sudo apt-get install python-setuptools
# easy_install -U rosinstall==0.5.20

TODO: versions over 0.5.30 are broken with our file. Debugging is on the way.

Download IRI ROS (anonymous access)

IRI currently deliver a rosinstall file which allow you to install all stacks available in a ready ROS enviroment.

# wget --no-check-certificate https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg/rosinstall/all-iri-ros.pub.rosinstall
# rosinstall iri-ros-pkg /opt/ros/electric all-iri-ros.pub.rosinstall

Download IRI ROS for IRI developers

Depending on the work you are going to do at IRI, you can select one of the rosinstall files provided. If in doubt, ask your coordinator.

Select your rosinstall file

Only iri-ros core

# wget --no-check-certificate https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg/rosinstall/iri_core.rosinstall
# rosinstall iri-ros-pkg /opt/ros/electric iri_core.rosinstall

Tibi & Dabo robots

# wget --no-check-certificate https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg/rosinstall/tibi_dabo.rosinstall
# rosinstall iri-ros-pkg /opt/ros/electric tibi_dabo.rosinstall

Teo robot

# wget --no-check-certificate https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg/rosinstall/teo.rosinstall
# rosinstall iri-ros-pkg /opt/ros/electric teo.rosinstall

Wam robot

# wget --no-check-certificate https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg/rosinstall/wam.rosinstall
# rosinstall iri-ros-pkg /opt/ros/electric wam.rosinstall

All stacks

# wget --no-check-certificate https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg/rosinstall/all-iri-ros.rosinstall
# rosinstall iri-ros-pkg /opt/ros/electric all-iri-ros.rosinstall

Download the iri-ros-pkg scripts

In order to download the helper IRI ros scripts, please do the following instructions:

# sudo apt-get install realpath
# svn checkout https://devel.iri.upc.edu/labrobotica/ros/iri-ros-pkg/scripts
# echo "source `pwd`/scripts/setup.bash" >> ~/.bashrc
# source ./scripts/setup.bash

Order in the .bashrc file

Since rosinstall generates a setup.bash which includes all the information of ROS setup.bash (/opt/${distribution}/setup.bash) it is not necessary to include it anymore. This should be the first entry ROS related in your .bashrc since it resets important variables like ROS_PACKAGE_PATH.

A typical .bashrc in IRI could looks like (only shown ROS related parts):

...
source /home/user/ros/iri-ros-pkg/setup.bash
source /home/user/ros/scripts/setup.bash
 
export ROS_PACKAGE_PATH="/home/user/ros/extra-repo:${ROS_PACKAGE_PATH}"