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Installation

These instructions cover installing PR2-related ROS Indigo software. Alternative system (real PR2 Robot) instructions that *may* work on older machines or other hardware can be found here at [Alternative ROS Indigo PR2 System Install for Unsupported Computers]. For more an overview of PR2 software and ROS, please see the PR2 software overview. For specific instructions on how to install software directly on a real PR2, please see the PR2 Support Site and the FAQ about the WG->CpR PR2 Transition.

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 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'

Mirrors

Source Debs are also available

Set up your keys

  • sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

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.

Installation

Make sure you have re-indexed the ROS.org server:

NOTE: You will get a prompt about hddtemp when you do the install below: you can safely answer no to the prompt if you are not installing on an actual PR2. To avoid getting the prompt, you can set the debconf selection ahead of time:

Installing the PR2 Desktop metapackage will bring in all the necessary desktop packages for interacting with the PR2 and running the simulator:

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/indigo/setup.bash" >> ~/.bashrc
source ~/.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/indigo/setup.bash

If you use zsh instead of bash you need to run the following commands to set up your shell:

echo "source /opt/ros/indigo/setup.zsh" >> ~/.zshrc
source ~/.zshrc

PR2 Environment (For the real robot)

If you have installed the debs from Clearpath robotics servers or received a server, this is no longer needed as the bashrc automatically sources Indigo and all env vars.

To launch the robot:

roslaunch /etc/ros/robot.launch

To launch the robot without C2 (in case it is not working for some reason):

roslaunch /etc/ros/robot.launch c2:=false

Tutorials

1. Proceed to the PR2 Tutorials.

2. Installing your Kinect 2 and integrating it with PR2 Indigo http://wiki.ros.org/Robots/PR2/HardwareMods

3. Filing a bug for ROS Package related bugs: https://github.com/pr2

4. Filing a bug for PR2 system related bugs: https://github.com/pr2-debs


2019-04-13 12:27