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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