2.1 Installization

Content

• Ubuntu
• ROS
  • ROS Test
  • Gazebo Test
• Catkin
• Git
• Terminator
• Atom
• OpenCV2

ROS

To install ros you can follow official tutorial or below instruction.

Add the sources and set the key

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' 
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Update and install

sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full

It may take some time to install it. Be patient!!

After installing run the below commend one by one.

apt-cache search ros-kinetic
sudo rosdep init
rosdep update
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

Now you source the ROS environment. Launch your ".bashrc" with superuser privilege

sudo gedit ~/.bashrc

then add following line to the bottom of the document.

source /opt/ros/kinetic/setup.bash

save and close the .bashrc and source your .bashrc

source ~/.bashrc

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ROS Test

To test ros installization, launch a terminal and run "roscore".

If you get the output in the following figure, the installization is successful.

Gazebo Test

Gazebo simulation environment comes with ROS. To launch Gazebo, launch a terminal and run "gazebo".

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Catkin

By installing ROS, you have already installed catkin_make, an early ros_build system. However there is a newer version with more advance functionalities. To install it, first copy following to the your terminal.

 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
 wget http://packages.ros.org/ros.key -O - | sudo apt-key add 

Then install catkin tools using below script.

sudo apt-get update
sudo apt-get install python-catkin-tools

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Git

sudo apt-get update
sudo apt-get upgrade
sudo apt-get install git

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Terminator (optional)

Terminator is an advance terminal interface, which make it easy to work with multiple tabs. To install

sudo add-apt-repository ppa:gnome-terminator
sudo apt-get update
sudo apt-get install terminator

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Atom (optional)

Atom is an open source text editor. It has directory tree and syntax highlighting. To download

sudo add-apt-repository ppa:webupd8team/atom
sudo apt update
sudo apt install atom

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OpenCV2

Update your system and install required packages

sudo apt-get update 
sudo apt-get upgrade
sudo apt-get install build-essential cmake pkg-config
sudo apt-get install libjpeg-dev libtiff5-dev libjasper-dev libpng12-dev
sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev
sudo apt-get install libxvidcore-dev libx264-dev
sudo apt-get install libgtk2.0-dev libgtk-3-dev
sudo apt-get install libatlas-base-dev gfortran
sudo apt-get install python2.7-dev python3-dev

Download OpenCV source file to your home directory and then unzip

cd ~
wget -O opencv.zip https://github.com/Itseez/opencv/archive/3.3.0.zip
unzip opencv.zip

and also download opencv_contrib

wget -O opencv_contrib.zip https://github.com/Itseez/opencv_contrib/archive/3.3.0.zip
unzip opencv_contrib.zip

Then go into the unzipped opencv folder and build using following

cd ~/opencv-3.3.0/
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE \
    -D CMAKE_INSTALL_PREFIX=/usr/local \
    -D INSTALL_PYTHON_EXAMPLES=ON \
    -D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib-3.3.0/modules \
    -D BUILD_EXAMPLES=ON ..
make -j4
sudo make install

Now launch a terminal. Run "python" and type

import cv2
cv2.__version__

if you get no error and you see '3.3.1-dev' as output, you are done. Go top