Table of Contents

Check your version of Ubuntu using: 

 lsb_release -a

These instructions assume that you are using a catkin workspace, which you should definitely get familiar with here). Focus on tutorials 1-3 for now.

Ubuntu 16.04 Flavors

ROS Kinetic Kame New Install

One big advantage of running ROS Kinetic Kame on Ubuntu 16.04 is that Kinetic comes with Gazebo 7.0 as part of the full ROS installation, so you don’t have to worry about installing 7.5 from source.

Setting up the basics

 sudo apt-get update

Installing ROS (Kinetic Kame)

See the guide here if you would prefer the basic installation of ROS Kinetic Kame for Ubuntu 16.04. 

 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 
 sudo apt-get update 
 sudo apt-get install ros-kinetic-desktop-full 
 sudo rosdep init 
 rosdep update 
 echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc 
 source ~/.bashrc 
 sudo apt-get install python-rosinstall

Setting up catkin workspace (Kinetic Kame)

Following the tutorial here. 

 source /opt/ros/kinetic/setup.bash 
 mkdir -p ~/catkin_ws/src 
 cd ~/catkin_ws/ 
 catkin_make 
 source devel/setup.bash

Installing Gazebo 7.0

 sudo apt-get install ros-kinetic-turtlebot-gazebo

Installing miscellaneous packages you may need

 sudo apt-get install ros-kinetic-turtlebot-teleop

Ubuntu 14.04 Flavors

The ROS Indigo Igloo, Gazebo and Turtlebot combination is relatively stable and seems to have the most support.

ROS Indigo Igloo Preinstalled Virtual Machine

If you are going to use a virtual machine, there is one ready for download that already has ROS and Gazebo installed.

Instructions can be found here.

The actual download can be found here. (Download the 64 bit version if you have enough RAM).

ROS Indigo Igloo New Install

Below are the instructions for a full installation of ROS Indigo Igloo, Gazebo and Turtlebot on a 14.04 flavor of Ubuntu.

Setting up the basics

 sudo apt-get update

Install the synaptic package manager 

 sudo apt-get synaptic

Download “Muon Discover” from the app store

Installing ROS (Indigo Igloo)

See the guide here if you would prefer the basic installation of ROS Indigo Igloo for Ubuntu 14.04.

Setting up catkin workspace (Indigo Igloo)

Following the tutorial here. 

 source /opt/ros/indigo/setup.bash 
 mkdir -p ~/catkin_ws/src 
 cd ~/catkin_ws/src 
 cd ~/catkin_ws/ 
 catkin_make 
 source devel/setup.bash

Installing Gazebo 7.5

Following the links here and here. 

 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' 
 sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 
 sudo apt-get update 
 sudo apt-get install ros-indigo-desktop-full ros-indigo-turtlebot-simulator ros-indigo-turtlebot-teleop 
 sudo rosdep init 
 rosdep update 
 sudo apt-get install python-rosinstall 
 //sudo apt-get remove '.*gazebo.*' '.*sdformat.*' '.*ignition-math.*' '.*ignition-msgs.*' '.*ignition-transport.*' 
 sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' 
 wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - 
 sudo apt-get update 
 export ROS_DISTRO=indigo 
 sudo apt-get install ros-$ROS_DISTRO-gazebo7-ros-pkgs 
 sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential 
 rosinstall_generator turtlebot_simulator --rosdistro indigo --deps --exclude RPP kobuki_gazebo_plugins > gazebo.rosinstall 
 wstool init -j10 src gazebo.rosinstall 
 rosdep install --from-paths src --ignore-src 
 catkin_make

ROS Indigo Igloo Already Installed

Below are the instructions for installing the Turtlebot and Gazebo on a 14.04 flavor of Ubuntu with ROS Indigo.

The procedure below only includes dependencies that are not immediately apparent from compiler error messages. You will likely need to install others packages/dependencies, but you should be able to figure out what they are from the messages. 

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' 
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - 
sudo apt-get update
sudo apt-get install ros-$ROS_DISTRO-gazebo7-ros-pkgs pyqt4-dev-tools
cd {your catkin workspace}/src
git clone https://github.com/turtlebot/turtlebot_simulator.git -b indigo
git clone https://github.gatech.edu/ivabots/kobuki_desktop.git -b indigo
cd ..
catkin_make

Main