Hardware Reference
In-Depth Information
$ wget http://64.91.227.57/repos/rospbian.key -O - | sudo apt-key add -
--2013-08-27 19:31:41-- http://64.91.227.57/repos/rospbian.key
Connecting to 64.91.227.57:80... connected.
HTTP request sent, awaiting response... 200 OK
Length: 1739 (1.7K) [application/pgp-keys]
Saving to: `STDOUT'
100%
[===========================================================================
=================================>] 1,739 --.-K/s in 0s
2013-08-27 19:31:41 (20.2 MB/s) - written to stdout [1739/1739]
OK
$ sudo apt-get update
Now you can install ROS packages from the ROSpbian repository. The ros_comm com-
ponents are a good starter package, because they will pull in all of the core ROS com-
ponents and tools as dependencies and install everything in one pass:
$ sudo apt-get install ros-groovy-ros-comm ros-groovy-rosbuild
It will take a little while to complete. When it finishes, you'll need to configure your user
account to enable the ROS environment by default. ROS includes a bash script con-
taining a number of environment variables (and amendments to $PATH ) so that you
can run ROS commands. Make sure your account sources this file (in bash, source is
roughly analogous to using #include in a C program).
To source the ROM environment every time you log in (or instantiate a bash shell), you
need to add it to the .bashrc file in that user's home directory:
$ echo "source /opt/ros/groovy/setup.bash" >> ~/.bashrc
You also want root to be aware of the ROS environment, so do the same for the root
user. Use sudo and su - together to switch to a root user session, then run the com-
mand again to source /opt/ros/groovy/setup.bash during .bashrc :
$ sudo su -
$ echo "source /opt/ros/groovy/setup.bash" >> /root/.bashrc
$ exit
Now you're ready to download and prepare the ROS components for the NXT Mind-
storms. As mentioned before, the ROS software provides a framework of standardized
components, but each specific robotic device needs a module (or modules) to support
its specific quirks. NXT Mindstorms requires the nxt family of modules. Max Sieber
forked off a copy of the nxt codebase to add support for the Groovy ROS and the
Raspberry Pi, but it needed some additional patches to build properly. We've forked
a copy of his work and added fixes. Clone a copy of our GitHub repository to work with:
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