Last update: August 1st, 2017
These instructions are for setting up your robotics workstation in Ubuntu 16.04 (Xenial).
After this, you will have installed the following tools:
For the official documentation, please refer to the website of the corresponding tool.
For up-to-date instructions to install ROS Kinetic, please refer to: http://wiki.ros.org/kinetic/Installation/Ubuntu
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.
Create a ROS Workspace
Let’s create a catkin workspace:
Even though the workspace is empty (there are no packages in the
src folder, just a single
CMakeLists.txt link) you can still build the workspace:
Before continuing, source your new
To make sure your workspace is properly overlayed by the setup script, make sure
ROS_PACKAGE_PATH environment variable includes the directory you’re in:
This is the expected output:
At this point OpenRAVE has a considerable number of dependencies that have to be installed manually. For the sake of simplicity, this instructions will show you how to get working OpenRAVE 0.9.0 with enought features.
You need to install the following programs:
Next, you will need to install the following libraries, which are available from the Ubuntu package repositories:
The version available at the Ubuntu repositories is 3.2, but OpenRAVE requires 3.4, so we have to build it from source:
FCL - The Flexible Collision Library
Build and install
fcl version 0.5.0:
Downgrade sympy so that IKFast works properly:
Build and Install
Now you can build and install
OpenRAVE (Tested with commit 9350ebc):
Testing the Installation
You can check that your installation works by running one of the default examples:
It should start the
You may see some messages printed in yellow on your terminal but they are just warnings that won’t prevent your installation from working.