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Groovy_Instructions.txt
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Groovy_Instructions.txt
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Getting Started
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R.O.S. or Robot Operating System is used to communicate between a computer and a robot. ROS currently uses 3 languages: C++, Python and Java. I am using ROS Java although it is still under active development and so features are volatile.
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ROS options
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1a) Use a Virtual machine disk image with Ubuntu and ROS already installed. Instructions here:
http://nootrix.com/2012/09/virtualizing-ros/
1b) Install ROS natively on Ubuntu or Mac OS X. (As of 2012 I was unable to get a working install of ROS on Mac OS X)
1c) Install Ubuntu on a separate partition on your machine and dual boot. Then install ROS and ROS Java. Instructions here:
http://wiki.ros.org/ROS/Installation
I have used the third option as this is the best option available to me. I am using Ubuntu 13.04 and ROS Groovy as this is the best combination for my laptop
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Complete the ROS Tutorials
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It is important to complete the tutorials on the ROS wiki. These not only provide a good introduction to the various tools that you will need whilst using ROS. It also helps you setup your ROS Environment which is needed for the next step.
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Installing ROS Java
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I was unable to find a complete set of instructions for installing ROS Java so I have created this guide to help people do it.
1) Install the Java Runtime Environment and Java Development Kit
To install ROS Java you obviously need to install a version of Java. If you already have Java installed you may skip this step.
(I am using openjdk however there are alternate releases of Java for linux)
sudo apt-get install openjdk-7-jre
sudo apt-get install openjdk-7-jdk
2) Install Netbeans
I use Netbeans as my IDE so will install that now.
sudo apt-get install netbeans
3) Move into your workspace
Mine is:
roscd
cd ../src
4) Clone the Rosjava code from the github repository
git clone https://github.com/rosjava/rosjava_core -b groovy-devel
5) cd into rosjava_core
cd rosjava_core
6) Use Gradlew to build and install rosjava_core
./gradlew install
That should be rosjava installed although theres one more step that still need to be done.
7) Create a symbolic link to be able to use gradle
mkdir ~/bin
ln -s PATH_TO_ROSJAVA_CORE/gradlew ~/bin/gradle
echo 'export PATH=$PATH:~/bin' >> ~/.bashrc
source ~/.bashrc
This creates a link between the bin folder in your home directory and the gradlew install in rosjava_core. Then the third line adds this to your execution path which is what's checked when you type commands into the command line.