Setup Valkyrie Developer Environment
This guide assumes you have Ubuntu 14.04 installed.
We pull Debians from ROS and Gazebo, as well as our own apt server. You'll need to add these to your /etc/apt/sources.list.d/ directory. Run the following lines:
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://pool.sks-keyservers.net --recv-key 0xB01FA116
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
Update your apt sources.
sudo apt-get update
Optional, but recommended.
sudo apt-get upgrade
Configure your users and groups with the following:
sudo groupadd ros
sudo groupadd pgrimaging
sudo adduser vanguard
sudo usermod -a -G ros $USER
sudo usermod -a -G dialout $USER
sudo usermod -a -G pgrimaging $USER
sudo usermod -a -G sudo vanguard
sudo usermod -a -G ros vanguard
This step will install the core dependencies, support packages, and standard developer tools/libraries required by the Valkyrie development environment.
Install the following packages:
sudo apt-get install binutils ca-certificates cpp cpp-4.8 curl fontconfig fontconfig-config fonts-dejavu-core g++ g++-4.8 gcc gcc-4.8 git git-flow htop iso-codes krb5-locales libamd2.3.1 libasan0 libatomic1 libaudio2 libavahi-client3 libavahi-common-data libavahi-common3 libblas3 libc-dev-bin libc6-dev libcamd2.3.1 libccolamd2.8.0 libcholmod2.1.2 libcloog-isl4 libcolamd2.8.0 libcups2 libdrm-intel1 libdrm-nouveau2 libdrm-radeon1 libelf1 libexpat1-dev libfontconfig1 libfreetype6 libgcc-4.8-dev libgfortran3 libgl1-mesa-dri libgl1-mesa-glx libglapi-mesa libglib2.0-0 libglib2.0-data libgmp10 libgomp1 libgssapi-krb5-2 libgstreamer-plugins-base1.0-0 libgstreamer1.0-0 libice6 libisl10 libitm1 libjbig0 libjpeg-turbo8 libjpeg8 libk5crypto3 libkeyutils1 libkrb5-3 libkrb5support0 liblapack3 liblcms2-2 libllvm3.4 libmpc3 libmpfr4 libmysqlclient18 liborc-0.4-0 libpciaccess0 libpython-dev libpython-stdlib libpython2.7 libpython2.7-dev libpython2.7-minimal libpython2.7-stdlib libqt4-dbus libqt4-declarative libqt4-designer libqt4-help libqt4-network libqt4-opengl libqt4-script libqt4-scripttools libqt4-sql libqt4-sql-mysql libqt4-svg libqt4-test libqt4-xml libqt4-xmlpatterns libqtassistantclient4 libqtcore4 libqtdbus4 libqtgui4 libqtwebkit4 libquadmath0 libsm6 libstdc++-4.8-dev libtiff5 libtsan0 libtxc-dxtn-s2tc0 libumfpack5.6.2 libwebp5 libwebpmux1 libx11-6 libx11-data libx11-xcb1 libxau6 libxcb-dri2-0 libxcb-dri3-0 libxcb-glx0 libxcb-present0 libxcb-sync1 libxcb1 libxdamage1 libxdmcp6 libxext6 libxfixes3 libxi6 libxml2 libxrender1 libxshmfence1 libxslt1.1 libxt6 libxxf86vm1 linux-libc-dev lm-sensors manpages manpages-dev mysql-common nano openssl python python-decorator python-dev python-imaging python-minimal python-numpy python-pil python-pip python-qt4 python-rosdep python-scipy python-sip python-six python-support python-vcstool python2.7 python2.7-dev python2.7-minimal qdbus qtchooser qtcore4-l10n ros-indigo-catkin sgml-base shared-mime-info syslog-ng-core vim wget x11-common xml-core nfs-common libffi-dev
Download the appropriate system configuration Debian from the selections below.
- Robot IO Computer
- Link 02 MIT
- Link 03 NEU
- Link 04 UoE
- Robot Vision Computer
- Zelda 02 MIT
- Zelda 03 NEU
- Zelda 04 UoE
- Valkyrie Visualizer Computer
- Vis 02 MIT
- Vis 03 NEU
- Vis 04 UoE
- Testbed Computer or Generic Developer
- Generic System Config
You will also need the following Debians:
nasa-indigo-workspace
python-pyqtgraph
Navigate to the download location and install the Debians with the following command:
sudo dpkg -i nasa-indigo-workspace*.deb nasa-val-system-config*.deb python-pyqtgraph*.deb
If setting up the Link robot processor or a testbed, complete these extra steps. Install the following packages:
binutils cpp cpp-4.8 dkms fakeroot gcc gcc-4.8 libasan0 libatomic1 libc-dev-bin libc6-dev libcloog-isl4 libfakeroot libgcc-4.8-dev libgmp10 libgomp1 libisl10 libitm1 libjsoncpp-dev libjsoncpp0 liblzo2-2 liblzo2-dev libmpc3 libmpfr4 libquadmath0 libtsan0 linux-libc-dev make manpages manpages-dev patch
Download the following Debians:
Synapse Driver
Navigate to the download location and install the Debian with the following command:
sudo dpkg -i nasa-robonet-synapse-driver*.deb
Init rosdep.
sudo rosdep init
If you're upgrading from an older install, please run this line.
sudo rm /etc/ros/rosdep/sources.list.d/12-nasa-gazebo4.list
Add sources to your rosdep lists.
sudo sh -c 'echo "yaml https://raw.githubusercontent.com/NASA-JSC-Robotics/nasa_common_rosdep/master/nasa-common.yaml" > /etc/ros/rosdep/sources.list.d/10-nasa-common.list'
sudo sh -c 'echo "yaml https://raw.githubusercontent.com/NASA-JSC-Robotics/nasa_common_rosdep/master/nasa-trusty.yaml" > /etc/ros/rosdep/sources.list.d/11-nasa-trusty.list'
sudo sh -c 'echo "yaml https://raw.githubusercontent.com/NASA-JSC-Robotics/nasa_common_rosdep/master/nasa-indigo-gazebo7.yaml" > /etc/ros/rosdep/sources.list.d/12-nasa-indigo-gazebo7.list'
Update your sources. DO NOT run as root.
rosdep update
Run the following:
python /usr/local/share/nasa/setup_nasa_val_user_bash.py
Add the following to the bottom of your ~/.bashrc file:
source /opt/ros/indigo/setup.bash
if [ -f ~/.bash_nasa_val ]; then
source ~/.bash_nasa_val
fi
Finally, source your ~/.bashrc file:
source ~/.bashrc
Please proceed to the second part: Checking out Valkyrie source code
