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====== Installing ROS Fuerte in debian Sid in your local home ======

This instructions are based on [[http://www.ros.org/wiki/fuerte/Installation/Debian| this]].

This instructions details the steps necessary to install ros in your local home. You will not need to touch (or damage) your main system using this method. 

Enjoy!

===== Installing dependencies and setting environment for compilation =====

  * Install dependency packages:

  sudo apt-get install build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core  python-yaml libapr1-dev libaprutil1-dev  libbz2-dev python-dev libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config python-empy python-nose swig python-wxgtk2.8 python-gtk2 python-matplotlib libwxgtk2.8-dev python-imaging libqt4-dev graphviz qt4-qmake python-numpy bison++ autoconf libtinyxml-dev libxml2-dev nvidia-cg-dev libxt-dev libxaw7-dev  nvidia-cg-toolkit libfreetype6-dev libxrandr-dev libfreeimage-dev libcurl-ocaml-dev libeigen3-dev libyaml-cpp-dev python-sip-dev python-sip python-qt4-dev python-qt4 python2.7-dev freeglut3-dev libusb-1.0-0-dev openjdk-7-jdk doxygen lsb-release unzip cmake-curses-gui autoconf automake python-nose bash-completion

  * Overwrite OS version detection: (Also add this to your .bashrc file)

  export ROS_OS_OVERRIDE=debian:squeeze

  * For parallel compilation:  (Also add this to your .bashrc file)

  export ROS_PARALLEL_JOBS=-j5

  * First configure a local directory for binary installations with xstow. Please follow the tutorial [[using_xstow_for_local_installations|Using xstow for local installations]].
  * We need to install a modified version of swig (if you can't get it with git use this {{::swig-wx.tar.gz|one}}):

  cd ~/local/src/
  mkdir ros-dependencies
  cd ros-dependencies
  git clone https://github.com/ros/swig-wx.git  
  cd swig-wx
  ./autogen.sh
  ./configure --prefix=${HOME}/local/DIR/swig-wx
  make -j10
  #export datarootdir=${HOME}/local/DIR/swig-wx/        #This is necessary because there is a bug in the autoconf of swig-wx. Bug apparently fixed (2013.02.25)
  make install
  cd ~/local/DIR
  xstow swig-wx

  * Add the following line to your .bashrc file:

  export SWIG_LIB=${HOME}/local/share/swig/1.3.29/

  * Source your .bashrc file

  source .bashrc

===== Installing rosinstall =====

Rosinstall is a script that "helps" in the process of installing ROS. We will install rosinstall locally in our home directory.

  * Python-pip is used to install rosinstall.

  sudo apt-get install python-pip

  * Configure the local directory for python-pip installations:

  export PYTHONUSERBASE=${HOME}/local/DIR/rosinstall-fuerte

  * Install rosinstall. Before the next command, it would be necessary to uninstall python-dateutil if there is an error
  * If you had ros-dependencies errors it can be ignored

  pip install --user -U rosinstall rospkg rosdep==0.10.08
  cd ~/local/DIR
  xstow rosinstall-fuerte

===== Installing external ROS dependencies =====

  * This section is only necessary if you want to use ROS with the kinect and some other more advance uses. You can skip this section if you just want a simple ROS.

  * Compile and install libflann (if you can't get it, use this {{::flann_wg.tar.gz|one}}):

  cd ~/local/src/ros-dependencies
  git clone git://github.com/ros-gbp/flann-fuerte-release.git
  #git clone git://github.com/mariusmuja/flann.git
  #git clone https://github.com/wg-debs/flann
  cd flann-fuerte-release
  git checkout debian/fuerte/precise/flann 
  mkdir build
  cd build
  cmake ../ -DCMAKE_INSTALL_PREFIX=${HOME}/local/DIR/flann #Configure the INSTALL_PREFIX to /home/user/local/DIR/flann
  make -j5
  make install
  cd ~/local/DIR
  xstow flann

* Exist an error on //make install// and you can ignore
<code>error: could not create '/usr/lib/python2.7/site-packages': Permission deniedcreating /usr/lib/python2.7/site-packages</code>

* We need ROS version of opencv2: 

  cd ~/local/src/ros-dependencies
  #git clone https://github.com/wg-debs/opencv2-release.git
  git clone https://github.com/ros-gbp/opencv2-fuerte-release.git
  cd opencv2-fuerte-release
  git checkout debian/fuerte/opencv2 
  mkdir build
  cd build
  cmake ../ -DCMAKE_INSTALL_PREFIX=${HOME}/local/DIR/opencv2 # Configure INSTALL_PREFIX to  /home/usuario/local/DIR/opencv2
  make -j5
  make install
  cd ~/local/DIR
  xstow opencv2

**Note**: If github doesn't work you can get it {{::opencv2-wg.tar.gz|here}}). Remember to erase the ¨build¨ directory and make your own.

  * Get, compile and install openni:

  cd ~/local/src/ros-dependencies/
  mkdir openni
  hg clone https://kforge.ros.org/openni/drivers openni
  cd openni
  hg update -r 299  # In this revision both xtion and kinect work!

  * Edit the Makefile and change:

          ARCH=i386
          OPENNI_ARCH=xx

with:

          ARCH=i386
          OPENNI_ARCH=x86

  * Continue with compiling openni:

  make -j10 debian
  sudo dpkg -i *.deb


===== Installing ROS core =====

  rosinstall --catkin ~/local/src/ros-underlay-fuerte http://ros.org/rosinstalls/fuerte-ros-full.rosinstall
  cd ~/local/src/ros-underlay-fuerte/
  mkdir build
  cd build
  ccmake .. -DCMAKE_INSTALL_PREFIX=${HOME}/local/DIR/ros-underlay-fuerte


  * At this point type "c" multiple times until you get a "g" option, then type "g"

  * The python library version 3.2 may be automatically selected, please change it to version 2.7 (you may need to press "t" to get more options):

  PYTHON_LIBRARY=/usr/lib/python2.7/config/libpython2.7.so 

  * Compile and install

  make -j5
  make install
  cd ~/local/DIR
  xstow ros-underlay-fuerte
  . ~/local/setup.bash

===== Installing ROS higher-level tools =====

  * Download file "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=fuerte&variant=desktop-full&overlay=no" or {{::gen_rosinstall.py.txt|here}} and change all its /opt/ros/fuerte ocurrences with /home/your-user/local/DIR/ros-underlay-fuerte and name this file gen_rosinstall.py

  rosinstall ~/local/src/ros-fuerte gen_rosinstall.py

  * Execute:

  source ~/local/src/ros-fuerte/setup.bash

  * Add the following to the end of your .bashrc file:

  alias env_ros_fuerte='source ~/local/src/ros-fuerte/setup.bash'

  * Everytime that you want to use ros just type env_ros_fuerte in the console.

  * Edit file /home/yourusername/local/lib/python2.7/site-packages/rosdep2/sources_list.py change the line:

         etc_ros = '/etc/ros'

with:

         etc_ros = '/home/yourusername/local/etc/ros'

  * Now run:

  rosdep init
  rosdep update
  rosdep install -a

  * Before we start to compile rviz, we need a debian package that is not in debian anymore: libassimp2. For 64bits, download from {{::libassimp2_2.0.863_dfsg-2_b1_amd64.deb|here}} and {{::libassimp-dev_2.0.863_dfsg-2_b1_amd64.deb|here}} and for 32bits from {{::libassimp2_2.0.863_dfsg-2_i386.deb|here}} and {{::libassimp-dev_2.0.863_dfsg-2_i386.deb|here}}the necessary packages and install them:

  * For 64 bits:

  sudo dpkg -i libassimp2_2.0.863+dfsg-2+b1_amd64.deb libassimp-dev_2.0.863+dfsg-2+b1_amd64.deb

  * For 32 bits:

  sudo dpkg -i libassimp2_2.0.863+dfsg-2_i386.deb libassimp-dev_2.0.863+dfsg-2_i386.deb

  * Also some rviz code must be fixed to get it compile. Edit the following files:

  ${HOME}/local/src/ros-fuerte/visualization/rviz/src/rviz/CMakeLists.txt
  ${HOME}/local/src/ros-fuerte/visualization/rviz/src/rviz/default_plugin/CMakeLists.txt
  ${HOME}/local/src/ros-fuerte/visualization/rviz/src/test/CMakeLists.txt
  ${HOME}/local/src/ros-fuerte/visualization/rviz/src/image_view/CMakeLists.txt

  * And everytime you see a qt4_wrap_cpp(...) please add before ")" this: 

  OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED


  * Now let's compile rviz

  rosmake rviz

==== References ====

http://ros.org/wiki/fuerte

http://ros.org/wiki/fuerte/Migration

https://github.com/wg-debs/opencv2-release

https://kforge.ros.org/projects/openni/

https://kforge.ros.org/projects/

https://kforge.ros.org/openni/drivers

http://git.fawkesrobotics.org/fawkes.git/commitdiff/f3e977334507333019f1230587ec0a6afea94b71

https://github.com/ros/rosdistro/blob/master/releases/fuerte.yaml

~~DISCUSSION~~