Gumstix User Wiki - User contributions [en]

ROS

2013-02-05T03:25:25Z

Adam: /* Issues and Workarounds */

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prebuilt Image ==
You can download the image resulting from this guide from [https://s3-us-west-2.amazonaws.com/linaro/GumstixLinaroROS_20130204_2.gz here] and its [https://s3-us-west-2.amazonaws.com/linaro/md5sum MD5SUM].

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (8GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== Issues and Workarounds ==

It is discovered that the original image released (in Jan. 2013) cannot bring-up WiFi when used with expansion boards with an Ethernet port. Here is the workaround if you are already using the image:
# Remove network-manager.conf and networking.conf from /etc/init directory, and 70-persistent-net.rules from /etc/udev/rules.d
# Follow [[Overo_Wifi]]
# This will disable the GUI network manager. However you can easily bring up your wireless interface with command 'ifup wlan0'.
# Additionally if you would like to auto-connect on boot, configure the interface in /etc/wpa_supplicant.conf as 'auto' as below:
auto wlan0
iface wlan0 inet dhcp
pre-up wpa_supplicant -Dwext -iwlan0 -c/etc/wpa_supplicant.conf -B
down killall wpa_supplicant
The Prebuilt Image section of this article already contains the updated image as well (published Feb. 2013).

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]
*[http://ros.org/wiki/TurtleCore Turtlecore - ROS.org]

ROS

2013-02-05T03:23:54Z

Adam: /* Issues and Workarounds */

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prebuilt Image ==
You can download the image resulting from this guide from [https://s3-us-west-2.amazonaws.com/linaro/GumstixLinaroROS_20130204_2.gz here] and its [https://s3-us-west-2.amazonaws.com/linaro/md5sum MD5SUM].

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (8GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== Issues and Workarounds ==

It is discovered that the original image released (in Jan. 2013) cannot bring-up WiFi when used with expansion boards with an Ethernet port. Here is the workaround if you are already using the image:
# Remove network-manager.conf and networking.conf from /etc/init directory, and 70-persistent-net.rules from /etc/udev/rules.d
# Follow [[Overo_Wifi]]
# This will disable the GUI network manager. However you can easily bring up your wireless interface with command 'ifup wlan0'.
# Additionally if you would like to auto-connect on boot, configure the interface as 'auto' as below:
auto wlan0
iface wlan0 inet dhcp
pre-up wpa_supplicant -Dwext -iwlan0 -c/etc/wpa_supplicant.conf -B
down killall wpa_supplicant
The Prebuilt Image section of this article already contains the updated image as well (published Feb. 2013).

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]
*[http://ros.org/wiki/TurtleCore Turtlecore - ROS.org]

ROS

2013-02-05T03:18:36Z

Adam: /* Issues and Workarounds */

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prebuilt Image ==
You can download the image resulting from this guide from [https://s3-us-west-2.amazonaws.com/linaro/GumstixLinaroROS_20130204_2.gz here] and its [https://s3-us-west-2.amazonaws.com/linaro/md5sum MD5SUM].

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (8GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== Issues and Workarounds ==

# It is discovered that the original image released (in Jan. 2013) cannot bring-up WiFi when used with expansion boards with an Ethernet port. Here is the workaround if you are already using the image:
#: Remove network-manager.conf and networking.conf from /etc/init directory, and 70-persistent-net.rules from /etc/udev/rules.d
#: Follow [[Overo_Wifi]]
#: This will disable the GUI network manager. However you can easily bring up your wireless interface with command 'ifup wlan0'.
#: Additionally if you would like to auto-connect on boot, configure the interface as 'auto' as below:
#: auto wlan0
#: iface wlan0 inet dhcp
#: pre-up wpa_supplicant -Dwext -iwlan0 -c/etc/wpa_supplicant.conf -B
#: down killall wpa_supplicant
# The Prebuilt Image section of this article already contains the updated image as well.

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]
*[http://ros.org/wiki/TurtleCore Turtlecore - ROS.org]

ROS

2013-02-05T03:07:49Z

Adam: /* Issues and Workarounds */

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prebuilt Image ==
You can download the image resulting from this guide from [https://s3-us-west-2.amazonaws.com/linaro/GumstixLinaroROS_20130204_2.gz here] and its [https://s3-us-west-2.amazonaws.com/linaro/md5sum MD5SUM].

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (8GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== Issues and Workarounds ==

# It is discovered that the original image released (in Jan. 2013) cannot bring-up WiFi when used with expansion boards with an Ethernet port. Here is the workaround if you are already using the image:
#: Remove network-manager.conf and networking.conf from /etc/init directory, and 70-persistent-net.rules from /etc/udev/rules.d
#: Follow [[Overo_Wifi]]
# The Prebuilt Image section of this article already contains the updated image as well.

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]
*[http://ros.org/wiki/TurtleCore Turtlecore - ROS.org]

ROS

2013-02-05T03:06:07Z

Adam: /* Issues and Workarounds */

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prebuilt Image ==
You can download the image resulting from this guide from [https://s3-us-west-2.amazonaws.com/linaro/GumstixLinaroROS_20130204_2.gz here] and its [https://s3-us-west-2.amazonaws.com/linaro/md5sum MD5SUM].

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (8GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== Issues and Workarounds ==

# It is discovered that the original image released (in Jan. 2013) cannot bring-up WiFi when used with expansion boards with an Ethernet port. Here is the workaround if you are already using the image:
#: Remove network-manager.conf and networking.conf from /etc/init directory, and 70-persistent-net.rules from /etc/udev/rules.d
#: Follow [[Overo_Wifi]]
# The Prebuilt Image section of this article already contains updated image as well.

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]
*[http://ros.org/wiki/TurtleCore Turtlecore - ROS.org]

ROS

2013-02-05T03:04:16Z

Adam: /* Issues and Workarounds */

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prebuilt Image ==
You can download the image resulting from this guide from [https://s3-us-west-2.amazonaws.com/linaro/GumstixLinaroROS_20130204_2.gz here] and its [https://s3-us-west-2.amazonaws.com/linaro/md5sum MD5SUM].

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (8GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== Issues and Workarounds ==

# It is discovered that the original image released cannot bring-up WiFi when used with expansion boards with an Ethernet port. Here is the workaround:
#: Remove network-manager.conf and networking.conf from /etc/init directory, and 70-persistent-net.rules from /etc/udev/rules.d
#: Follow [[Overo_Wifi]]

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]
*[http://ros.org/wiki/TurtleCore Turtlecore - ROS.org]

ROS

2013-02-05T03:03:00Z

Adam:

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prebuilt Image ==
You can download the image resulting from this guide from [https://s3-us-west-2.amazonaws.com/linaro/GumstixLinaroROS_20130204_2.gz here] and its [https://s3-us-west-2.amazonaws.com/linaro/md5sum MD5SUM].

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (8GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== Issues and Workarounds ==

# It is discovered that the original image released cannot bring-up WiFi when used with expansion boards with an Ethernet port. Here is the workaround:
#: Remove network-manager.conf and networking.conf from /etc/init directory, and 70-persistent-net.rules from /etc/udev/rules.d
#: Follow [[Overo_WiFi]]

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]
*[http://ros.org/wiki/TurtleCore Turtlecore - ROS.org]

ROS

2013-01-24T23:54:54Z

Adam: /* Prebuilt Image */

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prebuilt Image ==
You can download the image resulting from this guide from [https://s3.amazonaws.com/Linaro/20121218/GumstixLinaroROS_20121218 here]. Please check [https://s3.amazonaws.com/Linaro/20121218/md5sum MD5SUM] and [https://s3.amazonaws.com/Linaro/20121218/README README].You can dd the file into a micro SD card that is at least 2GB. You will probably want to expand the partition size of the root once you flash this image, as it has very little space left in 2GB allocated space. Depending on the size of your uSD card, use tools like GParted to expand.

Also if you have an 8GB uSD, you can directly download the same image with the root partition already resized from [https://s3-us-west-2.amazonaws.com/linaro/GumstixLinaroROS_20130121.gz here] and its [https://s3-us-west-2.amazonaws.com/linaro/md5sum MD5SUM].

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (2GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]
*[http://ros.org/wiki/TurtleCore Turtlecore - ROS.org]

Turtlecore

2013-01-22T01:07:56Z

Adam: moved Turtlecore to ROS

#REDIRECT [[ROS]]

ROS

2013-01-22T01:07:56Z

Adam: moved Turtlecore to ROS

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prebuilt Image ==
You can download the image resulting from this guide from [https://s3.amazonaws.com/Linaro/20121218/GumstixLinaroROS_20121218 here]. Please check [https://s3.amazonaws.com/Linaro/20121218/md5sum MD5SUM] and [https://s3.amazonaws.com/Linaro/20121218/README README].You can dd the file into a micro SD card that is at least 2GB.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (2GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]
*[http://ros.org/wiki/TurtleCore Turtlecore - ROS.org]

ROS

2013-01-07T23:22:44Z

Adam: /* Prebuilt Image */

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prebuilt Image ==
You can download the image resulting from this guide from [https://s3.amazonaws.com/Linaro/20121218/GumstixLinaroROS_20121218 here]. Please check [https://s3.amazonaws.com/Linaro/20121218/md5sum MD5SUM] and [https://s3.amazonaws.com/Linaro/20121218/README README].You can dd the file into a micro SD card that is at least 2GB.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (2GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]
*[http://ros.org/wiki/TurtleCore Turtlecore - ROS.org]

ROS

2012-12-20T00:30:52Z

Adam: /* Prerequisites */

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prebuilt Image ==
You can download the image resulting from this guide from [https://s3.amazonaws.com/Linaro/20121218/GumstixLinaroROS_20121218 here]. Please check [https://s3.amazonaws.com/Linaro/20121218/md5sum MD5SUM] and [https://s3.amazonaws.com/Linaro/20121218/README README].

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (2GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]
*[http://ros.org/wiki/TurtleCore Turtlecore - ROS.org]

ROS

2012-12-19T18:10:27Z

Adam:

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prebuilt Image ==
You can download the image resulting from this guide from [https://s3.amazonaws.com/Linaro/20121218/GumstixLinaroROS_20121218 here]. Please check [https://s3.amazonaws.com/Linaro/20121218/md5sum MD5SUM] and [https://s3.amazonaws.com/Linaro/20121218/README README].

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]
*[http://ros.org/wiki/TurtleCore Turtlecore - ROS.org]

ROS

2012-12-19T02:38:34Z

Adam: /* References */

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]
*[http://ros.org/wiki/TurtleCore Turtlecore - ROS.org]

ROS

2012-12-19T02:37:59Z

Adam: /* References */

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]
*[http://ros.org/wiki/TurtleCore Turtlecore]

ROS

2012-12-19T02:36:54Z

Adam:

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

== References ==
*[http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot Writing A Simple Node that Moves the iRobot Create Robot - Pharos Testbed Wiki]
*[http://pharos.ece.utexas.edu/wiki/index.php/Using_ROS_Electric_to_Tele-Operate_an_iRobot_Create_Robot Using ROS Electric to Tele-Operate an iRobot Create Robot - Pharos Testbed Wiki]
*[http://ros.org/wiki/groovy/Installation/Source Installing on Ubuntu from source - ROS.org]
*[https://code.ros.org/trac/ros/ticket/3534 Add Linaro as an alias for Ubuntu to satisfy rosdeps correctly - Ash Charles]

Main Page

2012-12-19T02:29:22Z

Adam:

<big>''Welcome to the Gumstix User Wiki''</big>

This site is provided so that users of the Gumstix OpenEmbedded build system can share their knowledge, showcase their Gumstix-based projects, and pass on links to other sources of information and materials. This information is entirely user generated and supported. Please contribute your know-how to help your fellow developers.

'''Customer additions and edits are encouraged, but please read the help page before you make any major edits.'''
''Note: you will need to create a new user account if you would like to contribute or edit content on this site.''

Go to the [http://gumstix.org Gumstix Developer's website] for official Gumstix supported documentation on OpenEmbedded and other information of interest to developers:

{|
| valign="top" |
{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's - Focus]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]

|-
| valign="top" |
* [[:Category:how to - Android|Android]]
* [[:Category:how to - eclipse|Eclipse]]
* [[:Category:How_to_-_Migrate_to_Gumstix|Migrate to Gumstix]]
* [[Linaro]]
* [[Installing Linaro Image]]
* [[LinuxLink]]
* [[:Category:how to - Ubuntu|Ubuntu]]
* [[:Category:how to - Debian|Debian]]
| valign="top" |
* [[1-wire|1-wire]]
* [[:Category:how to - audio|Audio]]
* [[:Category:how to - adc|ADC]]
* [[AutoLogin|Automatic Logins]]
* [[:Category:how to - batteries|Batteries]]
* [[:Category:how to - bluetooth|Bluetooth]]
* [[:Category:how to - Buildroot overo|Buildroot (overo)]]
* [[:Category:Connect_hardware|Connect Hardware]]
* [[Caspa_camera_boards|Caspa camera boards]]
* [[:Category:how to - displays|Displays]]
* [[:Category:how to - DSP|DSP]]
* [[:Category:how_to_-_ethernet|Ethernet]]
* [[:Category:how_to_-_expansion_boards|Expansion Boards]]
* [[:Category:how to - fedora|Fedora]]
* [[:Category:how to - Fast Boot|Fast Boot]]
* [[:Category:how to - Fortran|Fortran]]

| valign="top" |
* [[Gaining Console Connection via Terminal]]
* [[:Category:how to - git|Git]]
* [[GPIO|GPIO]]
* [[GPS|GPS]]
* [[:Category:how to - gui|GUI]]
* [[:Category:how to - general|General]]
* [[:Category:how to - Build helloworld|HelloWorld]]
* [[HelloWorld|HelloWorld in Python, C, C++]]
* [[HelloWorld in Java|HelloWorld in Java]]
* [[:Category:how to - i2c|I2C]]
* [[:Category:how to - IMU|IMU]]
* [[:Category:how to - JAVA|JAVA]]
* [[Kernel Build]]
* [[Kernel Reconfiguration|Kernel Reconfiguration]]
* [[:Category:how to - Known Issues|Known Issues]]
* [[:Category:how to - LCD|LCD]]
* [[:Category:how to - Low Power|Low Power]]
| valign="top" |
* [[:Category:how to - linux|Linux]]
* [[AudioIn | Use a microphone]]
* [[MicroSd |MicroSD Duplication]]
* [[:Category:how to - Network_Boot|Network Boot]]
* [[:Category:how to - OpenEmbedded|OpenEmbedded]]
* [[Overo Bare Metal|Overo Bare Metal]]
* [[:Category:how to - player|Player]]
* [[:Category:How to - PWM|PWM]]
* [[:Category:How_to_-_qemu|Qemu]]
* [[:Category:How_to_-_Qt|Qt]]
* [[:Category:how to - robotics|Robotics]]
* [[ROS|ROS]]
* [[Turtlecore|ROS on Turtlecore]]
* [[RoboVero|RoboVero]]
* [[:Category:how to - security|Security]]
* [[:Category:SPI|SPI]]
| valign="top" |
* [[:Category:SUSE|SUSE]]
* [[Remote Debugging with GDB|Remote Debugging with GDB]]
* [[Toolchain]]
* [[U-Boot|UBoot]]
* [[:Category:how to - usb|USB]]
* [[Verdex Git Repository]]
* [[Verdex JTAG]]
* [[VerdexPro U-Boot Flashing Fix]]
* [[:Category:how to - virtual machine|Virtual Machine]]
* [[:Category:how to - webcams|Webcams]]
* [[:Category:how to - wifi|Wifi]]

|}

{|
| valign="top" |
{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:projects|User projects]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:User_pics_videos|User Pics & Videos]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:resources|Resources]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:faqs|Questions and Answers]]

|-
| valign="top" |
* [[:Category:projects - audio|Audio]]
* [[:Category:projects - competitions|Competitions]]
* [[:Category:projects - displays|Displays]]
* [[:Category:projects - pdas|PDA's]]
* [[:Category:Projects_-Research_and_Education|Research & Education]]
* [[:Category:projects - monitoring and control|Monitoring and Control]]
* [[:Category:projects - robotics|Robotics & UAV's]]
| valign="top" |
* [http://www.youtube.com/results?uploaded=m&search_query=gumstix&search_type=videos&suggested_categories=28&uni=3&search_sort=video_date_uploaded Gumstix on Youtube]
* [http://www.flickr.com/search/?q=gumstix&s=rec Gumstix in Flickr]
* [http://www.cs.umd.edu/alandaluz/nchen/ebook/dualdisp-chi.mov Dual Display device at UMD]
| valign="top" |
* [[Windows CE solution|Solutions for Windows CE]]
* [[Qt solution|Solutions for Qt]]
* [[Manufacturer's specifications|Specifications for Processors & Components]]
* [[Software information]]
* [[Supported hardware]]
* [[Third Party Boards]]
| valign="top" |
Gumstix Community Mailing List (no cost)
* [https://lists.sourceforge.net/lists/listinfo/gumstix-users Sign-up]
* [http://old.nabble.com/Gumstix-f22543.html Archives]
|}

For information and support for the legacy gumstix buildroot build system:
[http://docwiki.gumstix.com/Main_Page docwiki.gumstix.com]
.

ROS

2012-12-19T02:27:37Z

Adam:

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-19T02:23:21Z

Adam: /* Running ROS */

DRAFT

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-19T02:22:01Z

Adam: /* Running ROS */

DRAFT

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
#: $ . ./setup.sh
# $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-19T02:20:11Z

Adam: /* Running ROS */

DRAFT

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ cd ~/ros
# $ . ./setup.sh
# $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-18T22:03:08Z

Adam: /* ROS Native Compilation */

DRAFT

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-18T22:00:50Z

Adam: /* ROS Native Compilation */

DRAFT

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Initialize dependencies
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-18T22:00:03Z

Adam: /* Get an Operating System */

DRAFT

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. [http://www.linaro.org/ Linaro] is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-18T21:57:29Z

Adam: /* Introduction */

DRAFT

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot setup. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-18T21:56:48Z

Adam: /* Introduction */

DRAFT

== Introduction ==

Rob Linsalata of [http://www.willowgarage.com Willow Garage] has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-18T21:56:08Z

Adam: /* Introduction */

DRAFT

== Introduction ==

Rob Linsalata of Willow Garage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-18T21:54:01Z

Adam: /* ROS Native Compilation */

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-18T21:52:38Z

Adam: /* Get an operating system */

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an Operating System ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: ' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-18T21:48:10Z

Adam: /* Get an operating system */

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an operating system ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. Willow Garage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: ' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-18T21:46:09Z

Adam: /* Get an operating system */

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an operating system ===

First thing you probably want to do is to [http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. WillowGarage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: ' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-18T21:44:06Z

Adam: /* Running ROS */

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an operating system ===

First thing you probably want to do is to[http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. WillowGarage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: ' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

# We have everything in place to drive the Create around. To start the core services of ROS, do the following:
#: $ roscore
# The iRobot Create is connected to ttyO0 on Gumstix Turtlecore. So make the change:
#: $ rosparam set /brown/irobot_create_2_1/port /dev/ttyO0
# Now we can start the driver program in another terminal:
#: $ rosrun irobot_create_2_1 driver.py
# Again, in a new terminal while roscore and the driver program are running, you can do the following to make the Create roll forward!!:
#: $ rosservice call /tank 1 100 100 && sleep 0.5 && rosservice call /brake 1

ROS

2012-12-18T18:59:30Z

Adam: /* ROS Native Compilation */

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an operating system ===

First thing you probably want to do is to[http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. WillowGarage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pip build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: ' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

- http://ros.org/wiki/groovy/Installation/Source [^] - http://coldogga.wordpress.com/2012/12/07/ros-groovy-on-linaro-pandaboard/

ROS

2012-12-18T18:58:22Z

Adam: /* Get an operating system */

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an operating system ===

First thing you probably want to do is to[http://wiki.gumstix.org/index.php?title=Installing_Linaro_Image install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. WillowGarage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pipï¿½ï¿½build-essential python-yaml cmake subversion wget python-setuptools mercurial git-coreï¿½ï¿½python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: ' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

- http://ros.org/wiki/groovy/Installation/Source [^] - http://coldogga.wordpress.com/2012/12/07/ros-groovy-on-linaro-pandaboard/

ROS

2012-12-18T18:57:30Z

Adam: /* Introduction */

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of [http://www.ros.org ROS] running on [https://www.gumstix.com Gumstix Overo COM] and [http://www.irobot.com iRobot Create] platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an operating system ===

First thing you probably want to do is to[http://www.b1gtuna.com/2012/08/installing-linaro-image-on-gumstix-overo/ install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. ï¿½So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. WillowGarage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pipï¿½ï¿½build-essential python-yaml cmake subversion wget python-setuptools mercurial git-coreï¿½ï¿½python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: ' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

- http://ros.org/wiki/groovy/Installation/Source [^] - http://coldogga.wordpress.com/2012/12/07/ros-groovy-on-linaro-pandaboard/

ROS

2012-12-18T18:55:19Z

Adam: /* ROS Native Compilation */

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of ROS running on Gumstix Overo COM and iRobot Create platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an operating system ===

First thing you probably want to do is to[http://www.b1gtuna.com/2012/08/installing-linaro-image-on-gumstix-overo/ install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. ï¿½So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. WillowGarage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pipï¿½ï¿½build-essential python-yaml cmake subversion wget python-setuptools mercurial git-coreï¿½ï¿½python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: ' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#:: //version: tf_rework
#:: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

- http://ros.org/wiki/groovy/Installation/Source [^] - http://coldogga.wordpress.com/2012/12/07/ros-groovy-on-linaro-pandaboard/

ROS

2012-12-18T18:53:15Z

Adam: /* ROS Native Compilation */

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of ROS running on Gumstix Overo COM and iRobot Create platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an operating system ===

First thing you probably want to do is to[http://www.b1gtuna.com/2012/08/installing-linaro-image-on-gumstix-overo/ install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. ï¿½So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. WillowGarage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pipï¿½ï¿½build-essential python-yaml cmake subversion wget python-setuptools mercurial git-coreï¿½ï¿½python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: ' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#: //version: tf_rework
#: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

- http://ros.org/wiki/groovy/Installation/Source [^] - http://coldogga.wordpress.com/2012/12/07/ros-groovy-on-linaro-pandaboard/

ROS

2012-12-18T18:46:17Z

Adam: /* ROS Native Compilation */

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of ROS running on Gumstix Overo COM and iRobot Create platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an operating system ===

First thing you probably want to do is to[http://www.b1gtuna.com/2012/08/installing-linaro-image-on-gumstix-overo/ install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. ï¿½So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. WillowGarage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pipï¿½ï¿½build-essential python-yaml cmake subversion wget python-setuptools mercurial git-coreï¿½ï¿½python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes
#: OS_UBUNTU='ubuntu'
#: '''OS_LINARO='linaro'''
#: ' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
#: '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#:In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#: //version: tf_rework
#: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

- http://ros.org/wiki/groovy/Installation/Source [^] - http://coldogga.wordpress.com/2012/12/07/ros-groovy-on-linaro-pandaboard/

ROS

2012-12-18T18:44:57Z

Adam: /* ROS Native Compilation */

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of ROS running on Gumstix Overo COM and iRobot Create platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an operating system ===

First thing you probably want to do is to[http://www.b1gtuna.com/2012/08/installing-linaro-image-on-gumstix-overo/ install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. ï¿½So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. WillowGarage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pipï¿½ï¿½build-essential python-yaml cmake subversion wget python-setuptools mercurial git-coreï¿½ï¿½python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes OS_UBUNTU='ubuntu' '''OS_LINARO='linaro'''' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu")) '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
#: $ roslocate info geometry > geometry.rosinstall
#:In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
#: $ vim geometry.rosinstall
#: //version: tf_rework
#: version: fuerte_devel
#: $ rosws merge geometry.rosinstall
#: $ rosws update
#: $ rosdep install geometry
#: $ rosmake geometry
# Finally we can install iRobot's ROS package
#: $ roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
#: $ vim irobot_create_2_1.rosinstall
#: $ rosws merge irobot_create_2_1
#: $ rosws update
#: $ rosmake irobot_create_2_1

== Running ROS ==

- http://ros.org/wiki/groovy/Installation/Source [^] - http://coldogga.wordpress.com/2012/12/07/ros-groovy-on-linaro-pandaboard/

ROS

2012-12-18T18:40:06Z

Adam: /* ROS Native Compilation */

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of ROS running on Gumstix Overo COM and iRobot Create platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an operating system ===

First thing you probably want to do is to[http://www.b1gtuna.com/2012/08/installing-linaro-image-on-gumstix-overo/ install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. ï¿½So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. WillowGarage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
#: $ sudo apt-get install python-pipï¿½ï¿½build-essential python-yaml cmake subversion wget python-setuptools mercurial git-coreï¿½ï¿½python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
#: $ pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
#: $ sudo rosdep init
#: $ rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
#: $ mkdir -p ~/ros_core_ws
#: $ cd ~/ros_core_ws
#: $ wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
#: $ ./src/catkin/bin/catkin_make
#: $ ./src/catkin/bin/catkin_make install
# Setup catkin build environment
#: $ source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
#: $ mkdir ~/ros
#: $ cd ~/ros
#: $ rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
#: $ vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
# Add the following bold faced changes OS_UBUNTU='ubuntu' '''OS_LINARO='linaro'''' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu")) '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
#: $ roslocate info kdl > kdl.rosinstall
#: $ rosws merge kdl.rosinstall
#: $ rosws update
#: $ rosdep install kdl
#: $ rosmake kdl
#: $ roslocate info bullet > bullet.rosinstall
#: $ rosws merge bullet.rosinstall
#: $ rosws update
#: $ rosdep install bullet
#: $ rosmake bullet
#:If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
#: $ rosdep update
# And build geometry package, the last dependency
roslocate info geometry > geometry.rosinstall
In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
vim geometry.rosinstall
version: tf_rework
version: fuerte_devel
rosws merge geometry.rosinstall
rosws update
rosdep install geometry
rosmake geometry
# Finally we can install iRobot's ROS package
roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
vim irobot_create_2_1.rosinstall
rosws merge irobot_create_2_1
rosws update
rosmake irobot_create_2_1

== Running ROS ==

- http://ros.org/wiki/groovy/Installation/Source [^] - http://coldogga.wordpress.com/2012/12/07/ros-groovy-on-linaro-pandaboard/

ROS

2012-12-18T18:33:00Z

Adam:

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of ROS running on Gumstix Overo COM and iRobot Create platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an operating system ===

First thing you probably want to do is to[http://www.b1gtuna.com/2012/08/installing-linaro-image-on-gumstix-overo/ install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. ï¿½So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. WillowGarage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
sudo apt-get install python-pipï¿½ï¿½build-essential python-yaml cmake subversion wget python-setuptools mercurial git-coreï¿½ï¿½python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
#: Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
sudo rosdep init
rosdep update
#: Now we create a catkin workspace and initialize to build core ROS packages
mkdir -p ~/ros_core_ws
cd ~/ros_core_ws
wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
#: Build catkin and install it. catkin is the low-level build system of ROS
./src/catkin/bin/catkin_make
./src/catkin/bin/catkin_make install
#: Setup catkin build environment
source ~/ros_core_ws/install/setup.bash
#: Now we create and initialize a workspace to put all our ROS packages
mkdir ~/ros
cd ~/ros
rosws init . ~/ros_core_ws/install/
#: Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
Add the following bold faced changes OS_UBUNTU='ubuntu' '''OS_LINARO='linaro'''' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu")) '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
#: There are a couple dependencies required before we can compile iRobot's Create ROS package
roslocate info kdl > kdl.rosinstall
rosws merge kdl.rosinstall
rosws update
rosdep install kdl
rosmake kdl
roslocate info bullet > bullet.rosinstall
rosws merge bullet.rosinstall
rosws update
rosdep install bullet
rosmake bullet
If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
rosdep update
# And build geometry package, the last dependency
roslocate info geometry > geometry.rosinstall
In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
vim geometry.rosinstall
version: tf_rework
version: fuerte_devel
rosws merge geometry.rosinstall
rosws update
rosdep install geometry
rosmake geometry
# Finally we can install iRobot's ROS package
roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
vim irobot_create_2_1.rosinstall
rosws merge irobot_create_2_1
rosws update
rosmake irobot_create_2_1

== Running ROS ==

- http://ros.org/wiki/groovy/Installation/Source [^] - http://coldogga.wordpress.com/2012/12/07/ros-groovy-on-linaro-pandaboard/

ROS

2012-12-18T18:30:06Z

Adam:

DRAFT

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of ROS running on Gumstix Overo COM and iRobot Create platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an operating system ===

First thing you probably want to do is to[http://www.b1gtuna.com/2012/08/installing-linaro-image-on-gumstix-overo/ install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. ï¿½So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. WillowGarage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
sudo apt-get install python-pipï¿½ï¿½build-essential python-yaml cmake subversion wget python-setuptools mercurial git-coreï¿½ï¿½python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
sudo rosdep init
rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
mkdir -p ~/ros_core_ws
cd ~/ros_core_ws
wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
./src/catkin/bin/catkin_make
./src/catkin/bin/catkin_make install
# Setup catkin build environment
source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
mkdir ~/ros
cd ~/ros
rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
Add the following bold faced changes OS_UBUNTU='ubuntu' '''OS_LINARO='linaro'''' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu")) '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
roslocate info kdl > kdl.rosinstall
rosws merge kdl.rosinstall
rosws update
rosdep install kdl
rosmake kdl
roslocate info bullet > bullet.rosinstall
rosws merge bullet.rosinstall
rosws update
rosdep install bullet
rosmake bullet
If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
rosdep update
# And build geometry package, the last dependency
roslocate info geometry > geometry.rosinstall
In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
vim geometry.rosinstall
version: tf_rework
version: fuerte_devel
rosws merge geometry.rosinstall
rosws update
rosdep install geometry
rosmake geometry
# Finally we can install iRobot's ROS package
roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
vim irobot_create_2_1.rosinstall
rosws merge irobot_create_2_1 > irobot_create_2_1.rosinstall
rosws update
rosmake irobot_create_2_1

== Running ROS ==

- http://ros.org/wiki/groovy/Installation/Source [^] - http://coldogga.wordpress.com/2012/12/07/ros-groovy-on-linaro-pandaboard/

ROS

2012-12-18T18:29:10Z

Adam: Created page with "== Introduction == Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of ROS running on Gumstix O..."

== Introduction ==

Rob Linsalata of WillowGarage has posted [http://www.willowgarage.com/blog/2012/12/11/exploring-ros-turtlecore a great demo video] of ROS running on Gumstix Overo COM and iRobot Create platform. Unfortunately it looks like Rob did not get a chance to write up a full tutorial on what it takes to get ROS running on the Gumstix and iRobot collaboration. So here is how I managed to get ROS Groovy (the latest release as of December 2012) to drive the Create.

== Prerequisites ==

* 1 Development computer running Ubuntu (I used 12.04)
* 1 Gumstix Overo COM with WiFi
* 1 Gumstix Turtlecore Expansion board
* 1 MicroSD Card (4GB or larger recommended)

== Installation ==

=== Get an operating system ===

First thing you probably want to do is to[http://www.b1gtuna.com/2012/08/installing-linaro-image-on-gumstix-overo/ install Linaro on an Overo COM]. Linaro is a variant of Ubuntu and is designed for embedded application. ï¿½So follow that link and get a Linaro image flashed into your MicroSD. The next part is where the challenge arises. WillowGarage does not provide ARM binaries. They only provide precompiled packages for your everyday computers running Intel or AMD CPUs. So we have to compile ROS from scratch for ARM architecture. Setting up a cross compilation environment is not a simple task, so I decided to do it natively on an Overo (even it means letting it compile over night).

=== ROS Native Compilation ===

# Get all libraries and tools
sudo apt-get install python-pipï¿½ï¿½build-essential python-yaml cmake subversion wget python-setuptools mercurial git-coreï¿½ï¿½python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config libqt4-dev qt4-qmake
# Some of the ROS tools need to come from PIP as I wasn't able to get them through Aptitude
pip install rospkg rosdep rosinstall catkin-pkg wstool
# Not sure what the following two lines do
sudo rosdep init
rosdep update
# Now we create a catkin workspace and initialize to build core ROS packages
mkdir -p ~/ros_core_ws
cd ~/ros_core_ws
wstool init src https://raw.github.com/gist/4129582/e8889c0fc3af2f95892190e0fabc2bd535208355/base.rosinstall
# Build catkin and install it. catkin is the low-level build system of ROS
./src/catkin/bin/catkin_make
./src/catkin/bin/catkin_make install
# Setup catkin build environment
source ~/ros_core_ws/install/setup.bash
# Now we create and initialize a workspace to put all our ROS packages
mkdir ~/ros
cd ~/ros
rosws init . ~/ros_core_ws/install/
# Current ROS distribution does not recognize Linaro. We have to patch the os detection file.
vim /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py
Add the following bold faced changes OS_UBUNTU='ubuntu' '''OS_LINARO='linaro'''' OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu")) '''OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))'''
# There are a couple dependencies required before we can compile iRobot's Create ROS package
roslocate info kdl > kdl.rosinstall
rosws merge kdl.rosinstall
rosws update
rosdep install kdl
rosmake kdl
roslocate info bullet > bullet.rosinstall
rosws merge bullet.rosinstall
rosws update
rosdep install bullet
rosmake bullet
If the last step fails indicating that a packaged named bullet was not found, try updating dependency map before running rosmake
rosdep update
# And build geometry package, the last dependency
roslocate info geometry > geometry.rosinstall
In the geometry package's rosinstall file, switch the branch name to fuerte_devel. For some reason the default branch does not work.
vim geometry.rosinstall
version: tf_rework
version: fuerte_devel
rosws merge geometry.rosinstall
rosws update
rosdep install geometry
rosmake geometry
# Finally we can install iRobot's ROS package
roslocate info irobot_create_2_1 > irobot_create_2_1.rosinstall
vim irobot_create_2_1.rosinstall
rosws merge irobot_create_2_1 > irobot_create_2_1.rosinstall
rosws update
rosmake irobot_create_2_1

== Running ROS ==

- http://ros.org/wiki/groovy/Installation/Source [^] - http://coldogga.wordpress.com/2012/12/07/ros-groovy-on-linaro-pandaboard/

Installing Linaro Image

2012-08-13T19:05:50Z

Adam: /* Introduction */

== Introduction ==

In this tutorial, you will install a customized version of linux on your Overo. This particular version is based on [http://www.ubuntu.com Ubuntu Linux] (12.04), one of the most popular Linux distribution today. It has been optimized and modified to run on ARM based devices by [http://www.linaro.org Linaro]. Therefore it will be referred to as the Linaro image from here on. The result of the customization is a lightweight, yet still very versatile version of linux. On top of the rock solid Linux Kernel 3.2, you will get a graphical desktop interface [http://www.lxde.org LXDE] which comes with a file browser, media player and as well as Google’s Chromium Web Browser. It will provide a good starting point for many Gumstix Overo users who want to further develop their own applications. Another version of this guide, with more detail, for the beginners is also found [http://www.b1gtuna.com/2012/08/installing-linaro-image-on-gumstix-overo here]

== Prerequisites ==

=== To install ===
*Computer with Ubuntu Linux 10.04 or later with internet connection
*Micro-SD card read/writer
*Micro-SD card size larger than 1 GB

=== To Use ===
*[https://www.gumstix.com/store/index.php?cPath=33 Gumstix Overo COM]
*[https://www.gumstix.com/store/index.php?cPath=40 Expansion board with HDMI port and ethernet port]
*Ethernet cable for the Overo to connect to a network
*Powered USB hub for peripherals such as keyboard and mouse on the Overo
*USB keyboard and mouse for the Overo

== Installation ==

On your host computer (ie your workstation):
# Install git and the Linaro Image Tools
#: $ sudo apt-get install git linaro-image-tools
# Obtain the root file system and the hardware pack via direct downloads: [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz hwpack] [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz rootfs] or via [https://github.com/gumstix/Gumstix-Overo-Linaro Gumstix’s Github].
#: $ git clone git://github.com/gumstix/Gumstix-Overo-Linaro.git
#:You can additionally check the integrity of the downloaded files by comparing the md5sum result in the [https://github.com/gumstix/Gumstix-Overo-Linaro/blob/master/README README] file.
# Insert micro-SD card to your card writer
#Execute the following command:
#: $ linaro-media-create --rootfs ext3 --mmc </dev/mmcblk0> --dev overo --hwpack <hwpack.tar.gz> --binary <rootfs.tar.gz> 
#: Replace </dev/mmcblk0>, <hwpack.tar.gz> <rootfs.tar.gz> with the mount point of your micro-SD card, the location of the hardware pack, and the location of the root file system respectively.
#: For example:
#: $ linaro-media-create --rootfs ext3 --mmc /dev/sdd --dev overo --hwpack Gumstix-Overo-Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz --binary Gumstix-Overo-Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz
# It will list disk devices attached on your computer, and will confirm with you the location of the micro-SD you have provided in the previous step. If correct, say yes or y.
# Answer yes or y to the questions when it needs to install packages
#: After this operation, 20.1 MB of additional disk space will be used.
#: Do you want to continue [Y/n]? y
# When it is finished, insert the microSD card to your Overo. It will probably take some time, as much as 20 minutes to complete.
# Done!

== Using Linaro ==
To boot your Overo with the new Linaro image:

# Insert the micro-SD Card to the Overo COM
# Connect the HDMI and the Ethernet cables to the expansion board
# Attach peripherals through a powered USB hub
# Plug power into the power jack

Username:password are ''gumstix:gumstix'' 
Host name is ''overo'' (''overo.local'' if you want to reach from local area network)

== List of Notable Standard Applications ==

=== Accessories ===
* Disk Utility
* File Manager
* Calculator
* LXTerminal
* Leafpad

=== Internet ===
* Chromium Web Browser

=== Office ===
* Adobe Document Viewer
* AbiWord

== List of Hardware Pack Components ==
As per the manifest file which can also be found from the [https://github.com/gumstix/Gumstix-Overo-Linaro/blob/master/manifest Gumstix GitHub]:

:iw=3.2-1
:devio=1.2-1build1
:wireless-regdb=2011.04.28-1ubuntu3
:wireless-crda=1.16
:u-boot-tools=2011.09-2
:libnl-3-200=3.2.3-2ubuntu2
:linux-firmware=1.79
:uboot-mkimage=2011.09-2
:flash-kernel=2.28ubuntu42.2linaro1
:crda=1.1.2-1ubuntu1
:libnl-genl-3-200=3.2.3-2ubuntu2
:linux-headers-3.2.1-linaro-omap=3.2.1-linaro-omap-10.00.Custom
:linux-image-3.2.1-linaro-omap=3.2.1-linaro-omap-10.00.Custom

== Additional Tips ==
=== Enabling Audio ===
By default sound output is disabled. To enable sound, launch alsamixer through LXTerminal 
: $ alsamixer

And make the following changes: 
:Headset - This is the volume. 50 should work ok. 
:HeadsetL, HeadsetL, HeadsetL, HeadsetR, HeadsetR, HeadsetR shoud all be 00 

=== Changing Screen Resolution ===

=== Getting USB Host To Work ===

Exception of USB flash drive, the USB host port requires a powered USB hub to be functional with peripherals such as keyboard and mouse.

== Current Issues ==

=== Long network bring up time when Ethernet is not connected (Only wireless Overos) ===
Booting takes time without an ethernet cable plugged to the expansion board. This is because the failsafe script waits too long before giving up on acquiring an IP address. This is a poor implementation of fail safe mechanism. We are leaving it up to the upstream to decide how to deal with it.

=== Not all default desktop managers work ===
All desktop environments (Lubuntu, Lubuntu Netbook and Openbox) work. GNOME/Openbox seems to be misconfigured.

=== Hardware acceleration is not working for the Overos with OpenGL ===
Getting the driver for PowerVR/SGX to work with the Linaro image is a high priority task at the moment

== Source Code ==
You can obtain the source code for the kernel and the root file system from the [https://github.com/gumstix Gumstix Github].
* Repository for [https://github.com/gumstix/Gumstix-Overo-Kernel kernel]
* Repository for [https://github.com/gumstix/Gumstix-Overo-LiveBuild root file system] (Debian Live Build)

You can also directly download the tar-balls of the [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Kernel-3.2.tar.gz kernel], [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz hardware pack], and the [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz root file system].

Installing Linaro Image

2012-08-13T19:05:05Z

Adam: /* Introduction */

== Introduction ==

In this tutorial, you will install a customized version of linux on your Overo. This particular version is based on [http://www.ubuntu.com Ubuntu Linux] (12.04), one of the most popular Linux distribution today. It has been optimized and modified to run on ARM based devices by [http://www.linaro.org Linaro]. Therefore it will be referred to as the Linaro image from here on. The result of the customization is a lightweight, yet still very versatile version of linux. On top of the rock solid Linux Kernel 3.2, you will get a graphical desktop interface [http://www.lxde.org LXDE] which comes with a file browser, media player and as well as Google’s Chromium Web Browser. It will provide a good starting point for many Gumstix Overo users who want to further develop their own applications. Another version of this guide, with more detail, for the beginners is also found at [http://www.b1gtuna.com/2012/08/installing-linaro-image-on-gumstix-overo here]

== Prerequisites ==

=== To install ===
*Computer with Ubuntu Linux 10.04 or later with internet connection
*Micro-SD card read/writer
*Micro-SD card size larger than 1 GB

=== To Use ===
*[https://www.gumstix.com/store/index.php?cPath=33 Gumstix Overo COM]
*[https://www.gumstix.com/store/index.php?cPath=40 Expansion board with HDMI port and ethernet port]
*Ethernet cable for the Overo to connect to a network
*Powered USB hub for peripherals such as keyboard and mouse on the Overo
*USB keyboard and mouse for the Overo

== Installation ==

On your host computer (ie your workstation):
# Install git and the Linaro Image Tools
#: $ sudo apt-get install git linaro-image-tools
# Obtain the root file system and the hardware pack via direct downloads: [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz hwpack] [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz rootfs] or via [https://github.com/gumstix/Gumstix-Overo-Linaro Gumstix’s Github].
#: $ git clone git://github.com/gumstix/Gumstix-Overo-Linaro.git
#:You can additionally check the integrity of the downloaded files by comparing the md5sum result in the [https://github.com/gumstix/Gumstix-Overo-Linaro/blob/master/README README] file.
# Insert micro-SD card to your card writer
#Execute the following command:
#: $ linaro-media-create --rootfs ext3 --mmc </dev/mmcblk0> --dev overo --hwpack <hwpack.tar.gz> --binary <rootfs.tar.gz> 
#: Replace </dev/mmcblk0>, <hwpack.tar.gz> <rootfs.tar.gz> with the mount point of your micro-SD card, the location of the hardware pack, and the location of the root file system respectively.
#: For example:
#: $ linaro-media-create --rootfs ext3 --mmc /dev/sdd --dev overo --hwpack Gumstix-Overo-Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz --binary Gumstix-Overo-Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz
# It will list disk devices attached on your computer, and will confirm with you the location of the micro-SD you have provided in the previous step. If correct, say yes or y.
# Answer yes or y to the questions when it needs to install packages
#: After this operation, 20.1 MB of additional disk space will be used.
#: Do you want to continue [Y/n]? y
# When it is finished, insert the microSD card to your Overo. It will probably take some time, as much as 20 minutes to complete.
# Done!

== Using Linaro ==
To boot your Overo with the new Linaro image:

# Insert the micro-SD Card to the Overo COM
# Connect the HDMI and the Ethernet cables to the expansion board
# Attach peripherals through a powered USB hub
# Plug power into the power jack

Username:password are ''gumstix:gumstix'' 
Host name is ''overo'' (''overo.local'' if you want to reach from local area network)

== List of Notable Standard Applications ==

=== Accessories ===
* Disk Utility
* File Manager
* Calculator
* LXTerminal
* Leafpad

=== Internet ===
* Chromium Web Browser

=== Office ===
* Adobe Document Viewer
* AbiWord

== List of Hardware Pack Components ==
As per the manifest file which can also be found from the [https://github.com/gumstix/Gumstix-Overo-Linaro/blob/master/manifest Gumstix GitHub]:

:iw=3.2-1
:devio=1.2-1build1
:wireless-regdb=2011.04.28-1ubuntu3
:wireless-crda=1.16
:u-boot-tools=2011.09-2
:libnl-3-200=3.2.3-2ubuntu2
:linux-firmware=1.79
:uboot-mkimage=2011.09-2
:flash-kernel=2.28ubuntu42.2linaro1
:crda=1.1.2-1ubuntu1
:libnl-genl-3-200=3.2.3-2ubuntu2
:linux-headers-3.2.1-linaro-omap=3.2.1-linaro-omap-10.00.Custom
:linux-image-3.2.1-linaro-omap=3.2.1-linaro-omap-10.00.Custom

== Additional Tips ==
=== Enabling Audio ===
By default sound output is disabled. To enable sound, launch alsamixer through LXTerminal 
: $ alsamixer

And make the following changes: 
:Headset - This is the volume. 50 should work ok. 
:HeadsetL, HeadsetL, HeadsetL, HeadsetR, HeadsetR, HeadsetR shoud all be 00 

=== Changing Screen Resolution ===

=== Getting USB Host To Work ===

Exception of USB flash drive, the USB host port requires a powered USB hub to be functional with peripherals such as keyboard and mouse.

== Current Issues ==

=== Long network bring up time when Ethernet is not connected (Only wireless Overos) ===
Booting takes time without an ethernet cable plugged to the expansion board. This is because the failsafe script waits too long before giving up on acquiring an IP address. This is a poor implementation of fail safe mechanism. We are leaving it up to the upstream to decide how to deal with it.

=== Not all default desktop managers work ===
All desktop environments (Lubuntu, Lubuntu Netbook and Openbox) work. GNOME/Openbox seems to be misconfigured.

=== Hardware acceleration is not working for the Overos with OpenGL ===
Getting the driver for PowerVR/SGX to work with the Linaro image is a high priority task at the moment

== Source Code ==
You can obtain the source code for the kernel and the root file system from the [https://github.com/gumstix Gumstix Github].
* Repository for [https://github.com/gumstix/Gumstix-Overo-Kernel kernel]
* Repository for [https://github.com/gumstix/Gumstix-Overo-LiveBuild root file system] (Debian Live Build)

You can also directly download the tar-balls of the [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Kernel-3.2.tar.gz kernel], [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz hardware pack], and the [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz root file system].

Installing Linaro Image

2012-08-09T05:07:09Z

Adam: /* Installation */

== Introduction ==

In this tutorial, you will install a customized version of linux on your Overo. This particular version is based on [http://www.ubuntu.com Ubuntu Linux] (12.04), one of the most popular Linux distribution today. It has been optimized and modified to run on ARM based devices by [http://www.linaro.org Linaro]. Therefore it will be referred to as the Linaro image from here on. The result of the customization is a lightweight, yet still very versatile version of linux. On top of the rock solid Linux Kernel 3.2, you will get a graphical desktop interface [http://www.lxde.org LXDE] which comes with a file browser, media player and as well as Google’s Chromium Web Browser. It will provide a good starting point for many Gumstix Overo users who want to further develop their own applications.

== Prerequisites ==

=== To install ===
*Computer with Ubuntu Linux 10.04 or later with internet connection
*Micro-SD card read/writer
*Micro-SD card size larger than 1 GB

=== To Use ===
*[https://www.gumstix.com/store/index.php?cPath=33 Gumstix Overo COM]
*[https://www.gumstix.com/store/index.php?cPath=40 Expansion board with HDMI port and ethernet port]
*Ethernet cable for the Overo to connect to a network
*Powered USB hub for peripherals such as keyboard and mouse on the Overo
*USB keyboard and mouse for the Overo

== Installation ==

On your host computer (ie your workstation):
# Install git and the Linaro Image Tools
#: $ sudo apt-get install git linaro-image-tools
# Obtain the root file system and the hardware pack via direct downloads: [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz hwpack] [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz rootfs] or via [https://github.com/gumstix/Gumstix-Overo-Linaro Gumstix’s Github].
#: $ git clone git://github.com/gumstix/Gumstix-Overo-Linaro.git
#:You can additionally check the integrity of the downloaded files by comparing the md5sum result in the [https://github.com/gumstix/Gumstix-Overo-Linaro/blob/master/README README] file.
# Insert micro-SD card to your card writer
#Execute the following command:
#: $ linaro-media-create --rootfs ext3 --mmc </dev/mmcblk0> --dev overo --hwpack <hwpack.tar.gz> --binary <rootfs.tar.gz> 
#: Replace </dev/mmcblk0>, <hwpack.tar.gz> <rootfs.tar.gz> with the mount point of your micro-SD card, the location of the hardware pack, and the location of the root file system respectively.
#: For example:
#: $ linaro-media-create --rootfs ext3 --mmc /dev/sdd --dev overo --hwpack Gumstix-Overo-Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz --binary Gumstix-Overo-Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz
# It will list disk devices attached on your computer, and will confirm with you the location of the micro-SD you have provided in the previous step. If correct, say yes or y.
# Answer yes or y to the questions when it needs to install packages
#: After this operation, 20.1 MB of additional disk space will be used.
#: Do you want to continue [Y/n]? y
# When it is finished, insert the microSD card to your Overo. It will probably take some time, as much as 20 minutes to complete.
# Done!

== Using Linaro ==
To boot your Overo with the new Linaro image:

# Insert the micro-SD Card to the Overo COM
# Connect the HDMI and the Ethernet cables to the expansion board
# Attach peripherals through a powered USB hub
# Plug power into the power jack

Username:password are ''gumstix:gumstix'' 
Host name is ''overo'' (''overo.local'' if you want to reach from local area network)

== List of Notable Standard Applications ==

=== Accessories ===
* Disk Utility
* File Manager
* Calculator
* LXTerminal
* Leafpad

=== Internet ===
* Chromium Web Browser

=== Office ===
* Adobe Document Viewer
* AbiWord

== List of Hardware Pack Components ==
As per the manifest file which can also be found from the [https://github.com/gumstix/Gumstix-Overo-Linaro/blob/master/manifest Gumstix GitHub]:

:iw=3.2-1
:devio=1.2-1build1
:wireless-regdb=2011.04.28-1ubuntu3
:wireless-crda=1.16
:u-boot-tools=2011.09-2
:libnl-3-200=3.2.3-2ubuntu2
:linux-firmware=1.79
:uboot-mkimage=2011.09-2
:flash-kernel=2.28ubuntu42.2linaro1
:crda=1.1.2-1ubuntu1
:libnl-genl-3-200=3.2.3-2ubuntu2
:linux-headers-3.2.1-linaro-omap=3.2.1-linaro-omap-10.00.Custom
:linux-image-3.2.1-linaro-omap=3.2.1-linaro-omap-10.00.Custom

== Additional Tips ==
=== Enabling Audio ===
By default sound output is disabled. To enable sound, launch alsamixer through LXTerminal 
: $ alsamixer

And make the following changes: 
:Headset - This is the volume. 50 should work ok. 
:HeadsetL, HeadsetL, HeadsetL, HeadsetR, HeadsetR, HeadsetR shoud all be 00 

=== Changing Screen Resolution ===

=== Getting USB Host To Work ===

Exception of USB flash drive, the USB host port requires a powered USB hub to be functional with peripherals such as keyboard and mouse.

== Current Issues ==

=== Long network bring up time when Ethernet is not connected (Only wireless Overos) ===
Booting takes time without an ethernet cable plugged to the expansion board. This is because the failsafe script waits too long before giving up on acquiring an IP address. This is a poor implementation of fail safe mechanism. We are leaving it up to the upstream to decide how to deal with it.

=== Not all default desktop managers work ===
All desktop environments (Lubuntu, Lubuntu Netbook and Openbox) work. GNOME/Openbox seems to be misconfigured.

=== Hardware acceleration is not working for the Overos with OpenGL ===
Getting the driver for PowerVR/SGX to work with the Linaro image is a high priority task at the moment

== Source Code ==
You can obtain the source code for the kernel and the root file system from the [https://github.com/gumstix Gumstix Github].
* Repository for [https://github.com/gumstix/Gumstix-Overo-Kernel kernel]
* Repository for [https://github.com/gumstix/Gumstix-Overo-LiveBuild root file system] (Debian Live Build)

You can also directly download the tar-balls of the [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Kernel-3.2.tar.gz kernel], [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz hardware pack], and the [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz root file system].

Installing Linaro Image

2012-08-02T00:35:14Z

Adam: /* Installation */

== Introduction ==

In this tutorial, you will install a customized version of linux on your Overo. This particular version is based on [http://www.ubuntu.com Ubuntu Linux] (12.04), one of the most popular Linux distribution today. It has been optimized and modified to run on ARM based devices by [http://www.linaro.org Linaro]. Therefore it will be referred to as the Linaro image from here on. The result of the customization is a lightweight, yet still very versatile version of linux. On top of the rock solid Linux Kernel 3.2, you will get a graphical desktop interface [http://www.lxde.org LXDE] which comes with a file browser, media player and as well as Google’s Chromium Web Browser. It will provide a good starting point for many Gumstix Overo users who want to further develop their own applications.

== Prerequisites ==

=== To install ===
*Computer with Ubuntu Linux 10.04 or later with internet connection
*Micro-SD card read/writer
*Micro-SD card size larger than 1 GB

=== To Use ===
*[https://www.gumstix.com/store/index.php?cPath=33 Gumstix Overo COM]
*[https://www.gumstix.com/store/index.php?cPath=40 Expansion board with HDMI port and ethernet port]
*Ethernet cable for the Overo to connect to a network
*Powered USB hub for peripherals such as keyboard and mouse on the Overo
*USB keyboard and mouse for the Overo

== Installation ==

On your host computer (ie your workstation):
# Install git
#: $ sudo apt-get install git
# Obtain the root file system and the hardware pack via direct downloads: [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz hwpack] [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz rootfs] or via [https://github.com/gumstix/Gumstix-Overo-Linaro Gumstix’s Github].
#: $ git clone git://github.com/gumstix/Gumstix-Overo-Linaro.git
#:You can additionally check the integrity of the downloaded files by comparing the md5sum result in the [https://github.com/gumstix/Gumstix-Overo-Linaro/blob/master/README README] file.
# Now you need the tools to write the image onto a micro-SD card. Install linaro-image-tools
#: $ sudo apt-get install linaro-image-tools
# Insert micro-SD card to your card writer
#Execute the following command:
#: $ linaro-media-create --rootfs ext3 --mmc </dev/mmcblk0> --dev overo --hwpack <hwpack.tar.gz> --binary <rootfs.tar.gz> 
#: Replace </dev/mmcblk0>, <hwpack.tar.gz> <rootfs.tar.gz> with the mount point of your micro-SD card, the location of the hardware pack, and the location of the root file system respectively.
#: For example:
#: $ linaro-media-create --rootfs ext3 --mmc /dev/sdd --dev overo --hwpack Gumstix-Overo-Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz --binary Gumstix-Overo-Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz
# It will list disk devices attached on your computer, and will confirm with you the location of the micro-SD you have provided in the previous step. If correct, say yes or y.
# Answer yes or y to the questions when it needs to install packages
#: After this operation, 20.1 MB of additional disk space will be used.
#: Do you want to continue [Y/n]? y
# When it is finished, insert the microSD card to your Overo. It will probably take some time, as much as 20 minutes to complete.
# Done!

== Using Linaro ==
To boot your Overo with the new Linaro image:

# Insert the micro-SD Card to the Overo COM
# Connect the HDMI and the Ethernet cables to the expansion board
# Attach peripherals through a powered USB hub
# Plug power into the power jack

Username:password are ''gumstix:gumstix'' 
Host name is ''overo'' (''overo.local'' if you want to reach from local area network)

== List of Notable Standard Applications ==

=== Accessories ===
* Disk Utility
* File Manager
* Calculator
* LXTerminal
* Leafpad

=== Internet ===
* Chromium Web Browser

=== Office ===
* Adobe Document Viewer
* AbiWord

== List of Hardware Pack Components ==
As per the manifest file which can also be found from the [https://github.com/gumstix/Gumstix-Overo-Linaro/blob/master/manifest Gumstix GitHub]:

:iw=3.2-1
:devio=1.2-1build1
:wireless-regdb=2011.04.28-1ubuntu3
:wireless-crda=1.16
:u-boot-tools=2011.09-2
:libnl-3-200=3.2.3-2ubuntu2
:linux-firmware=1.79
:uboot-mkimage=2011.09-2
:flash-kernel=2.28ubuntu42.2linaro1
:crda=1.1.2-1ubuntu1
:libnl-genl-3-200=3.2.3-2ubuntu2
:linux-headers-3.2.1-linaro-omap=3.2.1-linaro-omap-10.00.Custom
:linux-image-3.2.1-linaro-omap=3.2.1-linaro-omap-10.00.Custom

== Additional Tips ==
=== Enabling Audio ===
By default sound output is disabled. To enable sound, launch alsamixer through LXTerminal 
: $ alsamixer

And make the following changes: 
:Headset - This is the volume. 50 should work ok. 
:HeadsetL, HeadsetL, HeadsetL, HeadsetR, HeadsetR, HeadsetR shoud all be 00 

=== Changing Screen Resolution ===

=== Getting USB Host To Work ===

Exception of USB flash drive, the USB host port requires a powered USB hub to be functional with peripherals such as keyboard and mouse.

== Current Issues ==

=== Long network bring up time when Ethernet is not connected (Only wireless Overos) ===
Booting takes time without an ethernet cable plugged to the expansion board. This is because the failsafe script waits too long before giving up on acquiring an IP address. This is a poor implementation of fail safe mechanism. We are leaving it up to the upstream to decide how to deal with it.

=== Not all default desktop managers work ===
All desktop environments (Lubuntu, Lubuntu Netbook and Openbox) work. GNOME/Openbox seems to be misconfigured.

=== Hardware acceleration is not working for the Overos with OpenGL ===
Getting the driver for PowerVR/SGX to work with the Linaro image is a high priority task at the moment

== Source Code ==
You can obtain the source code for the kernel and the root file system from the [https://github.com/gumstix Gumstix Github].
* Repository for [https://github.com/gumstix/Gumstix-Overo-Kernel kernel]
* Repository for [https://github.com/gumstix/Gumstix-Overo-LiveBuild root file system] (Debian Live Build)

You can also directly download the tar-balls of the [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Kernel-3.2.tar.gz kernel], [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz hardware pack], and the [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz root file system].

Installing Linaro Image

2012-08-02T00:13:24Z

Adam: /* Installation */

== Introduction ==

In this tutorial, you will install a customized version of linux on your Overo. This particular version is based on [http://www.ubuntu.com Ubuntu Linux] (12.04), one of the most popular Linux distribution today. It has been optimized and modified to run on ARM based devices by [http://www.linaro.org Linaro]. Therefore it will be referred to as the Linaro image from here on. The result of the customization is a lightweight, yet still very versatile version of linux. On top of the rock solid Linux Kernel 3.2, you will get a graphical desktop interface [http://www.lxde.org LXDE] which comes with a file browser, media player and as well as Google’s Chromium Web Browser. It will provide a good starting point for many Gumstix Overo users who want to further develop their own applications.

== Prerequisites ==

=== To install ===
*Computer with Ubuntu Linux 10.04 or later with internet connection
*Micro-SD card read/writer
*Micro-SD card size larger than 1 GB

=== To Use ===
*[https://www.gumstix.com/store/index.php?cPath=33 Gumstix Overo COM]
*[https://www.gumstix.com/store/index.php?cPath=40 Expansion board with HDMI port and ethernet port]
*Ethernet cable for the Overo to connect to a network
*Powered USB hub for peripherals such as keyboard and mouse on the Overo
*USB keyboard and mouse for the Overo

== Installation ==

On your host computer (ie your workstation):
# Install git
$ sudo apt-get install git
# Obtain the root file system and the hardware pack via direct downloads: [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz hwpack] [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz rootfs] or via [https://github.com/gumstix/Gumstix-Overo-Linaro Gumstix’s Github].
$ git clone git://github.com/gumstix/Gumstix-Overo-Linaro.git
:You can additionally check the integrity of the downloaded files by comparing the md5sum result in the [https://github.com/gumstix/Gumstix-Overo-Linaro/blob/master/README README] file.
# Now you need the tools to write the image onto a micro-SD card. Install linaro-image-tools
$ sudo apt-get install linaro-image-tools

# Insert micro-SD card to your card writer
#Execute the following command:
$ linaro-media-create --rootfs ext3 --mmc </dev/mmcblk0> --dev overo --hwpack <hwpack.tar.gz> --binary <rootfs.tar.gz> 
: Replace </dev/mmcblk0>, <hwpack.tar.gz> <rootfs.tar.gz> with the mount point of your micro-SD card, the location of the hardware pack, and the location of the root file system respectively.
: For example:
linaro-media-create --rootfs ext3 --mmc /dev/sdd --dev overo --hwpack Gumstix-Overo-Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz --binary Gumstix-Overo-Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz

# It will list disk devices attached on your computer, and will confirm with you the location of the micro-SD you have provided in the previous step. If correct, say yes or y.
# Answer yes or y to the questions when it needs to install packages
After this operation, 20.1 MB of additional disk space will be used.
Do you want to continue [Y/n]? y
# When it is finished, insert the microSD card to your Overo. It will probably take some time, as much as 20 minutes to complete.
# Done!

== Using Linaro ==
To boot your Overo with the new Linaro image:

# Insert the micro-SD Card to the Overo COM
# Connect the HDMI and the Ethernet cables to the expansion board
# Attach peripherals through a powered USB hub
# Plug power into the power jack

Username:password are ''gumstix:gumstix'' 
Host name is ''overo'' (''overo.local'' if you want to reach from local area network)

== List of Notable Standard Applications ==

=== Accessories ===
* Disk Utility
* File Manager
* Calculator
* LXTerminal
* Leafpad

=== Internet ===
* Chromium Web Browser

=== Office ===
* Adobe Document Viewer
* AbiWord

== List of Hardware Pack Components ==
As per the manifest file which can also be found from the [https://github.com/gumstix/Gumstix-Overo-Linaro/blob/master/manifest Gumstix GitHub]:

:iw=3.2-1
:devio=1.2-1build1
:wireless-regdb=2011.04.28-1ubuntu3
:wireless-crda=1.16
:u-boot-tools=2011.09-2
:libnl-3-200=3.2.3-2ubuntu2
:linux-firmware=1.79
:uboot-mkimage=2011.09-2
:flash-kernel=2.28ubuntu42.2linaro1
:crda=1.1.2-1ubuntu1
:libnl-genl-3-200=3.2.3-2ubuntu2
:linux-headers-3.2.1-linaro-omap=3.2.1-linaro-omap-10.00.Custom
:linux-image-3.2.1-linaro-omap=3.2.1-linaro-omap-10.00.Custom

== Additional Tips ==
=== Enabling Audio ===
By default sound output is disabled. To enable sound, launch alsamixer through LXTerminal 
: $ alsamixer

And make the following changes: 
:Headset - This is the volume. 50 should work ok. 
:HeadsetL, HeadsetL, HeadsetL, HeadsetR, HeadsetR, HeadsetR shoud all be 00 

=== Changing Screen Resolution ===

=== Getting USB Host To Work ===

Exception of USB flash drive, the USB host port requires a powered USB hub to be functional with peripherals such as keyboard and mouse.

== Current Issues ==

=== Long network bring up time when Ethernet is not connected (Only wireless Overos) ===
Booting takes time without an ethernet cable plugged to the expansion board. This is because the failsafe script waits too long before giving up on acquiring an IP address. This is a poor implementation of fail safe mechanism. We are leaving it up to the upstream to decide how to deal with it.

=== Not all default desktop managers work ===
All desktop environments (Lubuntu, Lubuntu Netbook and Openbox) work. GNOME/Openbox seems to be misconfigured.

=== Hardware acceleration is not working for the Overos with OpenGL ===
Getting the driver for PowerVR/SGX to work with the Linaro image is a high priority task at the moment

== Source Code ==
You can obtain the source code for the kernel and the root file system from the [https://github.com/gumstix Gumstix Github].
* Repository for [https://github.com/gumstix/Gumstix-Overo-Kernel kernel]
* Repository for [https://github.com/gumstix/Gumstix-Overo-LiveBuild root file system] (Debian Live Build)

You can also directly download the tar-balls of the [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Kernel-3.2.tar.gz kernel], [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz hardware pack], and the [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz root file system].

Installing Linaro Image

2012-08-02T00:08:59Z

Adam: /* Installation */

== Introduction ==

In this tutorial, you will install a customized version of linux on your Overo. This particular version is based on [http://www.ubuntu.com Ubuntu Linux] (12.04), one of the most popular Linux distribution today. It has been optimized and modified to run on ARM based devices by [http://www.linaro.org Linaro]. Therefore it will be referred to as the Linaro image from here on. The result of the customization is a lightweight, yet still very versatile version of linux. On top of the rock solid Linux Kernel 3.2, you will get a graphical desktop interface [http://www.lxde.org LXDE] which comes with a file browser, media player and as well as Google’s Chromium Web Browser. It will provide a good starting point for many Gumstix Overo users who want to further develop their own applications.

== Prerequisites ==

=== To install ===
*Computer with Ubuntu Linux 10.04 or later with internet connection
*Micro-SD card read/writer
*Micro-SD card size larger than 1 GB

=== To Use ===
*[https://www.gumstix.com/store/index.php?cPath=33 Gumstix Overo COM]
*[https://www.gumstix.com/store/index.php?cPath=40 Expansion board with HDMI port and ethernet port]
*Ethernet cable for the Overo to connect to a network
*Powered USB hub for peripherals such as keyboard and mouse on the Overo
*USB keyboard and mouse for the Overo

== Installation ==

On your host computer (ie your workstation):
# Install git
$ sudo apt-get install git
# Obtain the root file system and the hardware pack via direct downloads: [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz hwpack] [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz rootfs] or via [https://github.com/gumstix/Gumstix-Overo-Linaro Gumstix’s Github].
$ git clone git://github.com/gumstix/Gumstix-Overo-Linaro.git
:You can additionally check the integrity of the downloaded files by comparing the md5sum result in the [https://github.com/gumstix/Gumstix-Overo-Linaro/blob/master/README README] file.
# Now you need the tools to write the image onto a micro-SD card. Install linaro-image-tools
$ sudo apt-get install linaro-image-tools

# Insert micro-SD card to your card writer
#Execute the following command:
$ linaro-media-create --rootfs ext3 --mmc </dev/mmcblk0> --dev overo --hwpack <hwpack.tar.gz> --binary <rootfs.tar.gz> 
: Replace </dev/mmcblk0>, <hwpack.tar.gz> <rootfs.tar.gz> with the mount point of your micro-SD card, the location of the hardware pack, and the location of the root file system respectively.
: For example:
linaro-media-create --rootfs ext3 --mmc /dev/sdd --dev overo --hwpack Gumstix-Overo-Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz --binary Gumstix-Overo-Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz

# It will list disk devices attached on your computer, and will confirm with you the location of the micro-SD you have provided in the previous step. If correct, say yes or y.
# Answer yes or y to the questions when it needs to install packages
After this operation, 20.1 MB of additional disk space will be used.
Do you want to continue [Y/n]? y
# When it is finished, insert the microSD card to your Overo
# Done!

== Using Linaro ==
To boot your Overo with the new Linaro image:

# Insert the micro-SD Card to the Overo COM
# Connect the HDMI and the Ethernet cables to the expansion board
# Attach peripherals through a powered USB hub
# Plug power into the power jack

Username:password are ''gumstix:gumstix'' 
Host name is ''overo'' (''overo.local'' if you want to reach from local area network)

== List of Notable Standard Applications ==

=== Accessories ===
* Disk Utility
* File Manager
* Calculator
* LXTerminal
* Leafpad

=== Internet ===
* Chromium Web Browser

=== Office ===
* Adobe Document Viewer
* AbiWord

== List of Hardware Pack Components ==
As per the manifest file which can also be found from the [https://github.com/gumstix/Gumstix-Overo-Linaro/blob/master/manifest Gumstix GitHub]:

:iw=3.2-1
:devio=1.2-1build1
:wireless-regdb=2011.04.28-1ubuntu3
:wireless-crda=1.16
:u-boot-tools=2011.09-2
:libnl-3-200=3.2.3-2ubuntu2
:linux-firmware=1.79
:uboot-mkimage=2011.09-2
:flash-kernel=2.28ubuntu42.2linaro1
:crda=1.1.2-1ubuntu1
:libnl-genl-3-200=3.2.3-2ubuntu2
:linux-headers-3.2.1-linaro-omap=3.2.1-linaro-omap-10.00.Custom
:linux-image-3.2.1-linaro-omap=3.2.1-linaro-omap-10.00.Custom

== Additional Tips ==
=== Enabling Audio ===
By default sound output is disabled. To enable sound, launch alsamixer through LXTerminal 
: $ alsamixer

And make the following changes: 
:Headset - This is the volume. 50 should work ok. 
:HeadsetL, HeadsetL, HeadsetL, HeadsetR, HeadsetR, HeadsetR shoud all be 00 

=== Changing Screen Resolution ===

=== Getting USB Host To Work ===

Exception of USB flash drive, the USB host port requires a powered USB hub to be functional with peripherals such as keyboard and mouse.

== Current Issues ==

=== Long network bring up time when Ethernet is not connected (Only wireless Overos) ===
Booting takes time without an ethernet cable plugged to the expansion board. This is because the failsafe script waits too long before giving up on acquiring an IP address. This is a poor implementation of fail safe mechanism. We are leaving it up to the upstream to decide how to deal with it.

=== Not all default desktop managers work ===
All desktop environments (Lubuntu, Lubuntu Netbook and Openbox) work. GNOME/Openbox seems to be misconfigured.

=== Hardware acceleration is not working for the Overos with OpenGL ===
Getting the driver for PowerVR/SGX to work with the Linaro image is a high priority task at the moment

== Source Code ==
You can obtain the source code for the kernel and the root file system from the [https://github.com/gumstix Gumstix Github].
* Repository for [https://github.com/gumstix/Gumstix-Overo-Kernel kernel]
* Repository for [https://github.com/gumstix/Gumstix-Overo-LiveBuild root file system] (Debian Live Build)

You can also directly download the tar-balls of the [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Kernel-3.2.tar.gz kernel], [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz hardware pack], and the [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz root file system].

Installing Linaro Image

2012-08-01T23:14:20Z

Adam: /* Installation */

== Introduction ==

In this tutorial, you will install a customized version of linux on your Overo. This particular version is based on [http://www.ubuntu.com Ubuntu Linux] (12.04), one of the most popular Linux distribution today. It has been optimized and modified to run on ARM based devices by [http://www.linaro.org Linaro]. Therefore it will be referred to as the Linaro image from here on. The result of the customization is a lightweight, yet still very versatile version of linux. On top of the rock solid Linux Kernel 3.2, you will get a graphical desktop interface [http://www.lxde.org LXDE] which comes with a file browser, media player and as well as Google’s Chromium Web Browser. It will provide a good starting point for many Gumstix Overo users who want to further develop their own applications.

== Prerequisites ==

=== To install ===
*Computer with Ubuntu Linux 10.04 or later with internet connection
*Micro-SD card read/writer
*Micro-SD card size larger than 1 GB

=== To Use ===
*[https://www.gumstix.com/store/index.php?cPath=33 Gumstix Overo COM]
*[https://www.gumstix.com/store/index.php?cPath=40 Expansion board with HDMI port and ethernet port]
*Ethernet cable for the Overo to connect to a network
*Powered USB hub for peripherals such as keyboard and mouse on the Overo
*USB keyboard and mouse for the Overo

== Installation ==

On your host computer (ie your workstation):
# Install git
$ sudo apt-get install git
# Obtain the root file system and the hardware pack via direct downloads: [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz hwpack] [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz rootfs] or via [https://github.com/gumstix/Gumstix-Overo-Linaro Gumstix’s Github].
$ git clone git://github.com/gumstix/Gumstix-Overo-Linaro.git
:You can additionally check the integrity of the downloaded files by comparing the md5sum result in the [https://github.com/gumstix/Gumstix-Overo-Linaro/blob/master/README README] file.
# Now you need the tools to write the image onto a micro-SD card. Install linaro-image-tools
$ sudo apt-get install linaro-image-tools

# Insert micro-SD card to your card writer
#Execute the following command:
$ linaro-media-create --rootfs ext3 --mmc </dev/mmcblk0> --dev overo --hwpack <hwpack.tar.gz> --binary <rootfs.tar.gz> 
: Replace </dev/mmcblk0>, <hwpack.tar.gz> <rootfs.tar.gz> with the mount point of your micro-SD card, the location of the hardware pack, and the location of the root file system respectively.
: For example:
sudo linaro-media-create --rootfs ext3 --mmc /dev/mmcblk0 --binary linaro-n-ubuntu-desktop-tar-20110314-0.tar.gz --hwpack hwpack_linaro-overo_20110314-0_armel_supported.tar.gz --dev overo

# It will list disk devices attached on your computer, and will confirm with you the location of the micro-SD you have provided in the previous step. If correct, say yes or y.
# Answer yes or y to the questions when it needs to install packages
After this operation, 20.1 MB of additional disk space will be used.
Do you want to continue [Y/n]? y
# When it is finished, insert the microSD card to your Overo
# Done!

== Using Linaro ==
To boot your Overo with the new Linaro image:

# Insert the micro-SD Card to the Overo COM
# Connect the HDMI and the Ethernet cables to the expansion board
# Attach peripherals through a powered USB hub
# Plug power into the power jack

Username:password are ''gumstix:gumstix'' 
Host name is ''overo'' (''overo.local'' if you want to reach from local area network)

== List of Notable Standard Applications ==

=== Accessories ===
* Disk Utility
* File Manager
* Calculator
* LXTerminal
* Leafpad

=== Internet ===
* Chromium Web Browser

=== Office ===
* Adobe Document Viewer
* AbiWord

== List of Hardware Pack Components ==
As per the manifest file which can also be found from the [https://github.com/gumstix/Gumstix-Overo-Linaro/blob/master/manifest Gumstix GitHub]:

:iw=3.2-1
:devio=1.2-1build1
:wireless-regdb=2011.04.28-1ubuntu3
:wireless-crda=1.16
:u-boot-tools=2011.09-2
:libnl-3-200=3.2.3-2ubuntu2
:linux-firmware=1.79
:uboot-mkimage=2011.09-2
:flash-kernel=2.28ubuntu42.2linaro1
:crda=1.1.2-1ubuntu1
:libnl-genl-3-200=3.2.3-2ubuntu2
:linux-headers-3.2.1-linaro-omap=3.2.1-linaro-omap-10.00.Custom
:linux-image-3.2.1-linaro-omap=3.2.1-linaro-omap-10.00.Custom

== Additional Tips ==
=== Enabling Audio ===
By default sound output is disabled. To enable sound, launch alsamixer through LXTerminal 
: $ alsamixer

And make the following changes: 
:Headset - This is the volume. 50 should work ok. 
:HeadsetL, HeadsetL, HeadsetL, HeadsetR, HeadsetR, HeadsetR shoud all be 00 

=== Changing Screen Resolution ===

=== Getting USB Host To Work ===

Exception of USB flash drive, the USB host port requires a powered USB hub to be functional with peripherals such as keyboard and mouse.

== Current Issues ==

=== Long network bring up time when Ethernet is not connected (Only wireless Overos) ===
Booting takes time without an ethernet cable plugged to the expansion board. This is because the failsafe script waits too long before giving up on acquiring an IP address. This is a poor implementation of fail safe mechanism. We are leaving it up to the upstream to decide how to deal with it.

=== Not all default desktop managers work ===
All desktop environments (Lubuntu, Lubuntu Netbook and Openbox) work. GNOME/Openbox seems to be misconfigured.

=== Hardware acceleration is not working for the Overos with OpenGL ===
Getting the driver for PowerVR/SGX to work with the Linaro image is a high priority task at the moment

== Source Code ==
You can obtain the source code for the kernel and the root file system from the [https://github.com/gumstix Gumstix Github].
* Repository for [https://github.com/gumstix/Gumstix-Overo-Kernel kernel]
* Repository for [https://github.com/gumstix/Gumstix-Overo-LiveBuild root file system] (Debian Live Build)

You can also directly download the tar-balls of the [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Kernel-3.2.tar.gz kernel], [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-armhf-HWPack.tar.gz hardware pack], and the [https://s3.amazonaws.com/Linaro/Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz root file system].