Ubuntu install of ROS Indigo
We are building Debian packages for several Ubuntu platforms, listed below. These packages are more
efficient than source-based builds and are our preferred installation method for Ubuntu.
If you need to install from source (not recommended), please see source (download-and-compile)
installation instructions (/indigo/Installation/Source).
If you rely on these packages, please support OSRF.
These packages are built and hosted on infrastructure maintained and paid for by
the Open Source Robotics Foundation ([Link] a 501(c)
(3) non-profit organization. If OSRF were to receive one penny for each
downloaded package for just two months, we could cover our annual costs to
manage, update, and host all of our online services. Please consider donating to
OSRF today ([Link]
Contents
1. Ubuntu install of ROS Indigo
1. Installation
1. Configure your Ubuntu repositories
2. Setup your [Link]
3. Set up your keys
4. Installation
5. Initialize rosdep
6. Environment setup
7. Getting rosinstall
8. Build farm status
2. Tutorials
1. Installation
ROS Indigo ONLY supports Saucy (13.10) and Trusty (14.04) for debian packages.
1.1 Configure your Ubuntu repositories
Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the
Ubuntu guide ([Link] for instructions on doing this.
1.2 Setup your [Link]
Setup your computer to accept software from [Link].
sudo sh -c 'echo "deb [Link] $(lsb_release -sc) main" > /etc/
apt/[Link].d/[Link]'
Mirrors (/ROS/Installation/UbuntuMirrors) Source Debs (/DebianPackageSources) are also available
1.3 Set up your keys
sudo apt install curl # if you haven't already installed curl
curl -s [Link] | sud
o apt-key add -
1.4 Installation
First, make sure your Debian package index is up-to-date:
sudo apt-get update && sudo apt-get install dpkg
If you are using Ubuntu Trusty 14.04.2 and experience dependency issues during the ROS
installation, you may have to install some additional system dependencies.
Do not install these packages if you are using 14.04, it will destroy your X
server:
sudo apt-get install xserver-xorg-dev-lts-trusty mesa-common-dev-l
ts-trusty libxatracker-dev-lts-trusty libopenvg1-mesa-dev-lts-trus
ty libgles2-mesa-dev-lts-trusty libgles1-mesa-dev-lts-trusty libgl
1-mesa-dev-lts-trusty libgbm-dev-lts-trusty libegl1-mesa-dev-lts-t
rusty
Do not install the above packages if you are using 14.04, it will destroy your X
server
Alternatively, try installing just this to fix dependency issues:
sudo apt-get install libgl1-mesa-dev-lts-trusty
For more information on this issue see this [Link] thread
([Link] or this launchpad
issue ([Link]
There are many different libraries and tools in ROS. We provided four default configurations to get you
started. You can also install ROS packages individually.
Desktop-Full Install: (Recommended) : ROS, rqt (/rqt), rviz (/rviz), robot-generic libraries, 2D/3D
simulators and 2D/3D perception
Indigo uses Gazebo 2 which is the default version of Gazebo on Trusty and is recommended. If you
would like to instead use a newer version of Gazebo (5, 6 or 7), refer to these instructions
([Link] on the Gazebo site. Note that installing a
newer version of Gazebo will require you to build dependent packages (such as turtlebot_gazebo)
to be built from source. See also Using a specific Gazebo version with ROS
([Link]
sudo apt-get install ros-indigo-desktop-full
or click here (apt:ros-indigo-desktop-full?refresh=yes)
Desktop Install: ROS, rqt (/rqt), rviz (/rviz), and robot-generic libraries
sudo apt-get install ros-indigo-desktop
or click here (apt:ros-indigo-desktop?refresh=yes)
ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
sudo apt-get install ros-indigo-ros-base
or click here (apt:ros-indigo-ros-base?refresh=yes)
Individual Package: You can also install a specific ROS package (replace underscores with dashes
of the package name):
sudo apt-get install ros-indigo-PACKAGE
e.g.
sudo apt-get install ros-indigo-slam-gmapping
To find available packages, use:
apt-cache search ros-indigo
1.5 Initialize rosdep
Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system
dependencies for source you want to compile and is required to run some core components in ROS.
sudo rosdep init
rosdep update
1.6 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/[Link]" >> ~/.bashrc
source ~/.bashrc
If you have more than one ROS distribution installed, ~/.bashrc must only source the [Link] 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/[Link]
If you use zsh instead of bash you need to run the following commands to set up your shell:
echo "source /opt/ros/indigo/[Link]" >> ~/.zshrc
source ~/.zshrc
1.7 Getting rosinstall
rosinstall (/rosinstall) is a frequently used command-line tool in ROS that is distributed separately. It enables
you to easily download many source trees for ROS packages with one command.
To install this tool on Ubuntu, run:
sudo apt-get install python-rosinstall
1.8 Build farm status
The packages that you installed were built by ROS build farm ([Link] You can check the
status of individual packages here ([Link]
2. Tutorials
Now, to test your installation, please proceed to the ROS Tutorials (/ROS/Tutorials).
CategoryCategory (/CategoryCategory)
Except where otherwise noted, the ROS
Wiki: indigo/Installation/Ubuntu (last edited 2019-07-25 [Link] by TullyFoote (/TullyFoote))
wiki is licensed under the
Creative Commons Attribution 3.0
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