Howto Install and Configure ROS on Ubuntu

HowtoInstall and Configure ROS Groovy on Ubuntu
Followthe instruction
http://www.ros.org/wiki/groovy/Installation/Ubuntuto install ROS Groovy:

Setupsources.list:

$sudosh -c 'echo "deb http://packages.ros.org/ros/ubuntu precisemain" > /etc/apt/sources.list.d/ros-latest.list'

Setupkeys:

$wgethttp://packages.ros.org/ros.key -O - | sudo apt-key add -

Installation:

$sudoapt-get update

$sudoapt-get install ros-groovy-desktop-full

Initializerosdep:

$sudorosdep init

$rosdepupdate

Environmentsetup:

Addthe ROS environment variables to the bash session every time a newshell is launched:
$echo"source /opt/ros/groovy/setup.bash" >> ~/.bashrc

Resourceto enable ros environment variables:
$source~/.bashrc

Checkthe ros environment variable to test the installation:
$echo$ROS_DISTRO
$export| grep ROS
You will getsomething like:
declare-x ROS_DISTRO="groovy"

declare-x ROS_ETC_DIR="/opt/ros/groovy/etc/ros"

declare-x ROS_MASTER_URI="http://localhost:11311"

declare-x ROS_PACKAGE_PATH="/opt/ros/groovy/share:/opt/ros/groovy/stacks"
declare-x ROS_ROOT="/opt/ros/groovy/share/ros"

Everytime a new shell is launched, the environment variables will beloaded automatically.

Getrosinstall:

$sudoapt-get install python-rosinstall

Followthe instructionhttp://www.ros.org/wiki/ROS/Tutorials/InstallingandConfiguringROSEnvironmentto
configure ros environment:

Createa ROS Workspace:

Createdirectories:

$mkdir-p /program/ros_workspace/src

Initializethe workspace:
$cd/program/ros_workspace/src
$catkin_init_workspace
thiscommand will create one CMakeList.txt link;

Buildthe workspace:
$cd/program/ros_workspace
$catkin_make
thiscommand will create another two folders build and devel in theworkspace, refer tohttp://www.ros.org/wiki/ROS/Tutorials/InstallingandConfiguringROSEnvironmentfor
detailed information about these folders.

Changethe source command in ~/.bashrc:
$gedit~/.bashrc
Commentthe last line with '#',add new source and save the file. That is,changing the last part of ~/.bashrc into:
#source/opt/ros/groovy/setup.bash

source/program/ros_workspace/devel/setup.bash
Byadding this line, every time you start a new shell, it willautomatically load ros environment variables. And
roscd willdirectly take you to /program/ros_workspace/devel.