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Ubuntu installation

In order to run the public simulation of TIAGo it is preferable to get a fresh installation of Ubuntu 16.04.4 LTS as follows

wget http://releases.ubuntu.com/16.04/ubuntu-16.04.6-desktop-amd64.iso

Use this ISO to install a fresh Ubuntu OS in your development computer. Afterwards, you can proceed installing ROS as explained in the next section.

ROS + Tiago installation

Set up ROS packages sources

In order to install the required ROS packages for running TIAGo's simulation first, as explained in ROS Kinetic installation, it is required to include packages.ros.org in the debian sources:

1. 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.

2. 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'

3. Set up your keys

The set up the required keys to access the debian sources:

sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

ROS packages installation

install use the following instruction

Append the following command to ~/.bashrc to allow any console to use the catkin commands

Source-based installation

These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.

First of all open a terminal and create an empty workspace:

Download the file tiago_public.rosinstall. Copy the rosinstall file in ~/tiago_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:

Set up rosdep

Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed

Then, you may proceed building the workspace:

Once you compiled all packages and sourced the environment (source devel/setup.bash) it's all ready to go.

To check that everything is properly installed run the TIAGo simulation tutorial


2022-05-28 12:23