Revision as of 10:50, 18 February 2013

ROS Installation on Debian

• April 23, 2012: Fuerte ROS from SVN
• August 30, 2011: Electric ROS from SVN
• March 2, 2011: Diamond ROS from SVN

Rejected Paths

Debian Squeeze on Raspberry Pi

Rejected Path: The ROS site has customized instructions for installing ROS on Pi under Squeeze. However, Wheezy support on the Pi is better. Squeeze images are no longer featured on the Pi download site. Here are a couple of links.

• Debian Squeeze
• ROS on Raspberry Pi Squeeze

ROS Electric Installation on Pi Wheezy

Rejected Path: This path was attractive because I have Electric running on my fitPC2. Started with the following ROS instructions and someone's experience on Pi. Ran into the following error and decided that if there are going to be problems to work through, better to have the most recent ROS version.

• Electric ROS from SVN
• Electric on Raspberry Pi

pi@raspberrypi ~ $ rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py? rosdistro=electric&variant=desktop-full&overlay=no"
rosinstall operating on /home/pi/ros from specifications in rosinstall files  http://packages.ros.org/cgi-bin/gen_rosinstall.py? rosdistro=electric&variant=desktop-full&overlay=no
(Over-)Writing /home/pi/ros/.rosinstall
(Over-)Writing setup.sh, setup.bash, and setup.zsh in /home/pi/ros
ERROR in rosinstall: 
No 'ros' stack detected in candidates [].
Please add the location of a ros distribution to this command.

See http://ros.org/wiki/rosinstall.

Fuerte Raspberry Image

After doing the following Fuerte install, I found the this image. ROS Fuerte Raspberry Image.

Fuerte Install - Successful

Use the instructions at Fuerte ROS from SVN as a base. What follows are problems and fixes mapped to the instruction sections.

Start by updating Pi.

 sudo apt-get update

1.1 Setup

See tip in 1.3.1. After the setup in 1.1 is done I did a:

 sudo cp -r /swig /usr/local/share

1.3.1 Install the Core Libraries - Downloading the Source

The base script for Fuerte has an error. The actionlib has been moved so update the install script. What follows is the error:

pi@raspberrypi ~ $ rosinstall --catkin ~/ros-underlay http://ros.org/rosinstalls/fuerte-ros-full.rosinstall
rosinstall operating on /home/pi/ros-underlay from specifications in rosinstall files  http://ros.org/rosinstalls/fuerte-ros-full.rosinstall
(Over-)Writing /home/pi/ros-underlay/.rosinstall
[actionlib] Installing git://github.com/wg-debs/actionlib-release.git (version debian/ros-fuerte-actionlib_1.8.6_lucid) to /home/pi/ros-underlay/actionlib
WARNING [vcstools] Command failed: 'git clone --recursive git://github.com/wg-debs/actionlib-release.git /home/pi/ros-underlay/actionlib'
 errcode: 128:
fatal: remote error: 
  Repository not found.
[/vcstools]
[catkin] Updating /home/pi/ros-underlay/catkin
[catkin] Done.
...
[rx] Updating /home/pi/ros-underlay/rx
[rx] Done.
Exception caught during install: Error processing 'actionlib' : [actionlib] Checkout of git://github.com/wg-debs/actionlib-release.git version debian/ros-fuerte-actionlib_1.8.6_lucid into /home/pi/ros-underlay/actionlib failed.

ERROR in config: Error processing 'actionlib' : [actionlib] Checkout of git://github.com/wg-debs/actionlib-release.git version debian/ros-fuerte-actionlib_1.8.6_lucid into /home/pi/ros-underlay/actionlib failed.

This is the summary of fix.

If someone is having the same issue. This is how I fixed it. I downloaded the file from here: http://ros.org/rosinstalls/fuerte-ros-base.rosinstall and then changed the first package:

- git:
    local-name: actionlib
    uri: git://github.com/ros-gbp/actionlib-release.git
    version: debian/ros-fuerte-actionlib_1.8.7_precise
Then you should be able to run:

rosinstall --catkin ~/ros-underlay file://path_to/fuerte-ros-base.rosinstall

The above rosinstall command did not work but the following did:

 rosinstall --catkin ~/ros-underlay ros-fix/fuerte-ros-full.rosinstall 

1.3.1 Install the Core Libraries - Downloading the Source

• Adjustments to the Fuerte instructions for the PI.
• Elaboration on replacing the turtle.cpp file to correct the compilation for the max template error.

Do a:

 make

The -j8 will start too many compilation threads and bring execution to a crawl.

1.5 Build Higher-level tools

Need to install rosdep first

 sudo pip install -U rosdep

The following yaml error hasn't been fixed.

  [ 50%] Building CXX object CMakeFiles/camera_calibration_parsers.dir/src/parse_ini.o
  /tmp/ccVTKEEx.s: Assembler messages:
  /tmp/ccVTKEEx.s:2354: Warning: swp{b} use is deprecated for this architecture
  /tmp/ccVTKEEx.s:2383: Warning: swp{b} use is deprecated for this architecture
  /tmp/ccVTKEEx.s:2420: Warning: swp{b} use is deprecated for this architecture
  /tmp/ccVTKEEx.s:2592: Warning: swp{b} use is deprecated for this architecture
  /tmp/ccVTKEEx.s:2620: Warning: swp{b} use is deprecated for this architecture
  /tmp/ccVTKEEx.s:2657: Warning: swp{b} use is deprecated for this architecture
  /tmp/ccVTKEEx.s:3101: Warning: swp{b} use is deprecated for this architecture
  /tmp/ccVTKEEx.s:3129: Warning: swp{b} use is deprecated for this architecture
  /tmp/ccVTKEEx.s:3166: Warning: swp{b} use is deprecated for this architecture
  [ 75%] Building CXX object CMakeFiles/camera_calibration_parsers.dir/src/parse_yml.o
  /home/pi/ros/image_common/camera_calibration_parsers/src/parse_yml.cpp:3:27: fatal error: yaml-cpp/yaml.h: No such file or directory
  compilation terminated.
  make[3]: *** [CMakeFiles/camera_calibration_parsers.dir/src/parse_yml.o] Error 1
  make[3]: Leaving directory `/home/pi/ros/image_common/camera_calibration_parsers/build'
  make[2]: *** [CMakeFiles/camera_calibration_parsers.dir/all] Error 2
  make[2]: Leaving directory `/home/pi/ros/image_common/camera_calibration_parsers/build'
  make[1]: *** [all] Error 2
  make[1]: Leaving directory `/home/pi/ros/image_common/camera_calibration_parsers/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package camera_calibration_parsers written to:
[ rosmake ]    /home/pi/.ros/rosmake/rosmake_output-20121228-175952/camera_calibration_parsers/build_output.log
[rosmake-0] Finished <<< camera_calibration_parsers [FAIL] [ 236.95 seconds ]   
[ rosmake ] Halting due to failure in package camera_calibration_parsers. 
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:                                                            
[ rosmake ] Built 8 packages with 1 failures.                                   
[ rosmake ] Summary output to directory                                         
[ rosmake ] /home/pi/.ros/rosmake/rosmake_output-20121228-175952                

Installed libyaml-dev and libyaml-cpp-dev later. This may help.

ROS Experiences

• A September 2012 blog
• Setting from ros.org