Robotino 3のUbuntu の更新

Robotino 3 update Ubuntu from 12.04 to 14.04に従ってRobotino のUbunut 等を更新します.

まず,日本で作業するのであればapt の取得先をドイツから日本に変えましょう.de → ja.
ただ,それでもあまり速くならなかったので,jaist (北陸先端大学)のサーバに切り替えました.

robotino@robotino-btr1:~$ cat /etc/apt/sources.list
# deb http://doc.openrobotino.org/download/packages/amd64 ./ # disabled on upgrade to trusty
# 

# deb cdrom:[Ubuntu-Server 12.04.3 LTS _Precise Pangolin_ - Release amd64 (20130820.2)]/ dists/precise/main/binary-i386/
# deb cdrom:[Ubuntu-Server 12.04.3 LTS _Precise Pangolin_ - Release amd64 (20130820.2)]/ dists/precise/restricted/binary-i386/
# deb cdrom:[Ubuntu-Server 12.04.3 LTS _Precise Pangolin_ - Release amd64 (20130820.2)]/ precise main restricted

# deb cdrom:[Ubuntu-Server 12.04.3 LTS _Precise Pangolin_ - Release amd64 (20130820.2)]/ dists/precise/main/binary-i386/
# deb cdrom:[Ubuntu-Server 12.04.3 LTS _Precise Pangolin_ - Release amd64 (20130820.2)]/ dists/precise/restricted/binary-i386/
# deb cdrom:[Ubuntu-Server 12.04.3 LTS _Precise Pangolin_ - Release amd64 (20130820.2)]/ precise main restricted

# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.
deb http://ftp.jaist.ac.jp/ubuntu/ trusty main restricted
deb-src http://ftp.jaist.ac.jp/ubuntu/ trusty main restricted

## Major bug fix updates produced after the final release of the
## distribution.
deb http://ftp.jaist.ac.jp/ubuntu/ trusty-updates main restricted
deb-src http://ftp.jaist.ac.jp/ubuntu/ trusty-updates main restricted

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://ftp.jaist.ac.jp/ubuntu/ trusty universe
deb-src http://ftp.jaist.ac.jp/ubuntu/ trusty universe
deb http://ftp.jaist.ac.jp/ubuntu/ trusty-updates universe
deb-src http://ftp.jaist.ac.jp/ubuntu/ trusty-updates universe

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu 
## team, and may not be under a free licence. Please satisfy yourself as to 
## your rights to use the software. Also, please note that software in 
## multiverse WILL NOT receive any review or updates from the Ubuntu
## security team.
deb http://ftp.jaist.ac.jp/ubuntu/ trusty multiverse
deb-src http://ftp.jaist.ac.jp/ubuntu/ trusty multiverse
deb http://ftp.jaist.ac.jp/ubuntu/ trusty-updates multiverse
deb-src http://ftp.jaist.ac.jp/ubuntu/ trusty-updates multiverse

## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
deb http://ftp.jaist.ac.jp/ubuntu/ trusty-backports main restricted universe multiverse
deb-src http://ftp.jaist.ac.jp/ubuntu/ trusty-backports main restricted universe multiverse

deb http://security.ubuntu.com/ubuntu trusty-security main restricted
deb-src http://security.ubuntu.com/ubuntu trusty-security main restricted
deb http://security.ubuntu.com/ubuntu trusty-security universe
deb-src http://security.ubuntu.com/ubuntu trusty-security universe
deb http://security.ubuntu.com/ubuntu trusty-security multiverse
deb-src http://security.ubuntu.com/ubuntu trusty-security multiverse

## Uncomment the following two lines to add software from Canonical's
## 'partner' repository.
## This software is not part of Ubuntu, but is offered by Canonical and the
## respective vendors as a service to Ubuntu users.
# deb http://archive.canonical.com/ubuntu precise partner
# deb-src http://archive.canonical.com/ubuntu precise partner

## Uncomment the following two lines to add software from Ubuntu's
## 'extras' repository.
## This software is not part of Ubuntu, but is offered by third-party
## developers who want to ship their latest software.
# deb http://extras.ubuntu.com/ubuntu precise main
# deb-src http://extras.ubuntu.com/ubuntu precise main

その後,do-release-upgradeで更新します.
質問事項には,基本的には「N」で答えますが,「続けて良いですか」の質問には「y」で進めて下さい.

sudo do-release-upgrade

ネットワークの設定として,/etc/network/interfaces のwlan0 の項目にwlan0 auto を追加しましょう.

ROS は,indigo を入れます.

sudo apt-get remove ros-fuerte*

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo -E apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116
sudo apt-get update

sudo apt-get install ros-indigo-ros-base ros-indigo-tf ros-indigo-pcl* libcgal-dev ros-indigo-move-base-msgs ros-indigo-interactive-markers ros-indigo-sick-tim \
                     libyaml-cpp-dev libncurses5-dev libmicrohttpd-dev ccache

上記作業中にyaml-cpp でエラーが出た場合は,以下を試して下さい.

sudo apt-get remove  yaml-cpp

~/.bashrc から source /opt/ros/fuerte/setup.bash の部分をコメントアウトします.

sudo rosdep init
rosdep update
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source /opt/ros/indigo/setup.bash

/etc/apt/source.listsに以下を追加.

deb http://doc.openrobotino.org/download/packages/amd64 ./

調整します.

sudo apt-get update && sudo apt-get upgrade
sudo apt-get install robotino-api2 robotino3-firmware

OpenRobotino の調整

sudo update-rc.d -f joystick.sh remove
sudo update-rc.d lighttpd disable
sudo su -c "echo manual > /etc/init/fleetcomd.override"

for f in 99-camd2.rules 99-ftdid.rules 99-joystick.rules; do
  sudo sed -e 's/^\(.\)/#\1/' -i /etc/udev/rules.d/$f
done

sudo cat <<EOM >>/etc/init/rpcd.conf
post-start script
  sleep 5
  chmod 666 /tmp/__REC__RPC__12080__
end script

EOM

Fawkes on Ubuntuの部分も作業しておきましょう.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
# Repository which has a new version of libmicrohttpd, do not do this on Ubuntu Quantal or newer
sudo -E add-apt-repository -y ppa:openvas/stable

# Recent CLIPS/clipsmm versions
sudo -E add-apt-repository -y ppa:timn/clips

sudo apt-get update

sudo apt-get install build-essential git-core g++ vim asciidoc doxygen \
  libmagic-dev libssl-dev libavahi-client-dev libsqlite3-dev libxml++2.6-2 libxml++2.6-dev \
  libdaemon-dev liblua5.1-0-dev libtolua++5.1-dev \
  libboost-dev libdc1394-22-dev libbluetooth-dev libbullet-dev libelf-dev \
  libjpeg-dev libtiff4-dev libjpeg8-dev libjpeg-turbo8-dev libpng12-dev libpcl-1.7-all-dev \
  libopencv-dev libopencv-objdetect-dev libopencv-highgui-dev libopencv-calib3d-dev \
  libopencv-features2d-dev libopencv-legacy-dev libopencv-contrib-dev \
  librrd-dev graphviz libgraphviz-dev flite1-dev libasound2-dev \
  robot-player-dev libplayerc3.0-dev libcgal-dev \
  libgl1-mesa-dev freeglut3-dev libsdl1.2-dev liburg0-dev \
  libgtkmm-3.0-dev libcairomm-1.0-dev libgconfmm-2.6-dev \
  libclipsmm-dev libprotobuf-dev libprotoc-dev protobuf-compiler \
  mongodb-dev mongodb-server ccache libncurses5-dev
sudo apt-get install libmicrohttpd-dev libyaml-cpp-dev libxmlrpc-c++8-dev \
  emacs24 gazebo5 gazebo5-plugin-base libgazebo5-dev
echo 'export PATH="/usr/lib/ccache:$PATH"' >> ~/.bashrc

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